# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Program mbm_route2mission version: # : mbm_route2mission 2238 2015-04-15 06:00:52Z caress r # # Mission Summary: # Route File: 2015_SurRidge_m1v4.rte # Mission File: 2015_SurRidge_m1v4.cfg # Distance: 79687.987702 (m) # Estimated Time: 55065 (s) 15.296 (hr) # Abort Time: 61731 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1268 (s) # Way Points: 43 # Route Points: 779 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Spiral descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 50 dB # Multibeam transmit gain: 220 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 30 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 1269.907227 (m) # Abort Vehicle Depth: 1294.907227 (m) # Descent Vehicle Depth: 3 (m) # Spiral descent depth: 1042.112335 m # Spiral descent altitude: 50 m # Forward Looking Distance: 200 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 36.0 (degrees) # 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 -122.315309 36.404458 -1102.112335 0.000000 3 # 1 -122.273712 36.401514 -1306.444661 3744.350657 3 # 2 -122.273823 36.400162 -1299.123861 3894.650549 3 # 3 -122.314529 36.403016 -1071.828857 7558.562827 3 # 4 -122.314937 36.401694 -1062.502197 7709.703961 3 # 5 -122.278986 36.399141 -1240.191325 10946.078353 3 # 6 -122.279060 36.397819 -1246.990560 11092.864217 3 # 7 -122.316275 36.400433 -1061.785970 14442.681739 3 # 8 -122.316646 36.399141 -1043.055339 14589.802517 3 # 9 -122.279208 36.396437 -1253.748698 17960.461095 3 # 10 -122.279320 36.395085 -1259.794596 18110.760785 3 # 11 -122.319283 36.397909 -1054.887044 21708.255758 3 # 12 -122.319654 36.396617 -1039.534098 21855.376662 3 # 13 -122.279543 36.393823 -1267.708903 25465.914867 3 # 14 -122.279877 36.392471 -1276.615723 25618.848804 3 # 15 -122.335699 36.396347 -1138.999837 30643.439299 3 # 16 -122.336145 36.395085 -1133.963379 30789.002354 3 # 17 -122.288642 36.391690 -1281.510742 35065.748310 3 # 18 -122.288791 36.390398 -1279.366089 35209.688208 3 # 19 -122.336702 36.393733 -1133.049479 39522.389805 3 # 20 -122.337482 36.392471 -1130.950277 39678.862553 3 # 21 -122.290685 36.389136 -1279.894165 43892.097532 3 # 22 -122.290871 36.387814 -1280.603577 44039.689298 3 # 23 -122.338262 36.391119 -1124.348958 48305.774810 3 # 24 -122.339004 36.389797 -1117.506592 48466.831833 3 # 25 -122.291019 36.386432 -1283.900360 52786.713634 3 # 26 -122.291205 36.385111 -1286.550568 52934.195178 3 # 27 -122.339487 36.388505 -1110.088542 57280.950516 3 # 28 -122.339896 36.387184 -1102.759603 57432.092455 3 # 29 -122.292133 36.383819 -1287.117676 61732.216948 3 # 30 -122.292356 36.382467 -1292.558746 61883.518505 3 # 31 -122.340230 36.385832 -1096.355062 66193.659238 3 # 32 -122.340490 36.384450 -1087.008952 66348.720777 3 # 33 -122.292653 36.381145 -1299.095703 70655.056155 3 # 34 -122.300230 36.385111 -1137.583466 71464.634503 3 # 35 -122.295550 36.390338 -1183.306427 72180.436100 3 # 36 -122.291762 36.390969 -1273.454681 72527.300312 3 # 37 -122.286859 36.397548 -1255.327972 73379.320989 3 # 38 -122.287862 36.403136 -1229.803802 74005.676108 3 # 39 -122.295105 36.398269 -862.133667 74850.268538 3 # 40 -122.299153 36.396887 -890.358948 75244.325426 3 # 41 -122.311632 36.382467 -895.184311 77196.561301 3 # 42 -122.312746 36.404909 -1066.937500 79687.987702 4 # # A total of 779 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 61731; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1269.907227; abortDepth = 1294.907227; minAltitude = 50.000000; abortAltitude = 20.000000; deltaDepthRestart = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1268; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update 1 - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 83.381899 meters # Minimum depth: 1057.197257 meters looking forward 200.000000 meters along route # Maximum depth: 1066.937500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.197257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.404909; longitude = -122.312746; duration = 166; # abortOnTimeout = True; initialDepth = 994.483401; finalDepth = 1007.197257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.740243 # Actual altitude: 59.740243 # Commanded vehicle depth: 1007.197257 # Seafloor depth: -1066.937500 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.058267 meters # Minimum depth: 1044.483401 meters looking forward 200.000000 meters along route # Maximum depth: 1066.937500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.483401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.404158; longitude = -122.312709; duration = 200; initialDepth = 984.547199; finalDepth = 994.483401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.540358 # Actual altitude: 61.540358 # Commanded vehicle depth: 994.483401 # Seafloor depth: -1056.023759 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058255 meters # Minimum depth: 1034.547199 meters looking forward 200.000000 meters along route # Maximum depth: 1055.059713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.547199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403257; longitude = -122.312664; duration = 200; initialDepth = 975.464899; finalDepth = 984.547199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.540358 # Actual altitude: 61.540358 # Commanded vehicle depth: 984.547199 # Seafloor depth: -1043.758147 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058243 meters # Minimum depth: 1025.464899 meters looking forward 200.000000 meters along route # Maximum depth: 1042.400561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.464899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402355; longitude = -122.312619; duration = 200; initialDepth = 965.395708; finalDepth = 975.464899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2109479999999 # Actual altitude: 59.2109479999999 # Commanded vehicle depth: 975.464899 # Seafloor depth: -1034.054311 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058230 meters # Minimum depth: 1015.395708 meters looking forward 200.000000 meters along route # Maximum depth: 1033.886425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.395708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401454; longitude = -122.312575; duration = 200; initialDepth = 954.216455; finalDepth = 965.395708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.384045 # Actual altitude: 59.384045 # Commanded vehicle depth: 965.395708 # Seafloor depth: -1024.779753 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058217 meters # Minimum depth: 1004.216455 meters looking forward 200.000000 meters along route # Maximum depth: 1023.800531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.216455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400553; longitude = -122.312530; duration = 200; initialDepth = 937.238669; finalDepth = 954.216455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.841661 # Actual altitude: 60.841661 # Commanded vehicle depth: 954.216455 # Seafloor depth: -1015.058116 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058205 meters # Minimum depth: 987.238669 meters looking forward 200.000000 meters along route # Maximum depth: 1015.572049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.238669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399651; longitude = -122.312485; duration = 200; initialDepth = 919.140788; finalDepth = 937.238669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8536280000001 # Actual altitude: 65.8536280000001 # Commanded vehicle depth: 937.238669 # Seafloor depth: -1003.092297 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058192 meters # Minimum depth: 969.140788 meters looking forward 200.000000 meters along route # Maximum depth: 1001.525634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.140788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398750; longitude = -122.312440; duration = 200; initialDepth = 902.426117; finalDepth = 919.140788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8536280000001 # Actual altitude: 65.8536280000001 # Commanded vehicle depth: 919.140788 # Seafloor depth: -984.565456 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058180 meters # Minimum depth: 952.426117 meters looking forward 200.000000 meters along route # Maximum depth: 983.977400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.426117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397849; longitude = -122.312396; duration = 200; initialDepth = 892.802532; finalDepth = 902.426117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.424668 # Actual altitude: 65.424668 # Commanded vehicle depth: 902.426117 # Seafloor depth: -966.544971 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058167 meters # Minimum depth: 942.802532 meters looking forward 200.000000 meters along route # Maximum depth: 965.050268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.802532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396948; longitude = -122.312351; duration = 200; initialDepth = 880.564159; finalDepth = 892.802532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1188540000001 # Actual altitude: 64.1188540000001 # Commanded vehicle depth: 892.802532 # Seafloor depth: -951.593542 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058155 meters # Minimum depth: 930.564159 meters looking forward 200.000000 meters along route # Maximum depth: 950.375675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.564159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396046; longitude = -122.312306; duration = 200; initialDepth = 875.394297; finalDepth = 880.564159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.494008 # Actual altitude: 62.494008 # Commanded vehicle depth: 880.564159 # Seafloor depth: -943.058167 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058142 meters # Minimum depth: 925.394297 meters looking forward 200.000000 meters along route # Maximum depth: 943.332724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.394297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395145; longitude = -122.312261; duration = 200; initialDepth = 874.516383; finalDepth = 875.394297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.494008 # Actual altitude: 62.494008 # Commanded vehicle depth: 875.394297 # Seafloor depth: -930.984863 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058129 meters # Minimum depth: 924.516383 meters looking forward 200.000000 meters along route # Maximum depth: 930.369076 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.516383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394244; longitude = -122.312217; duration = 200; initialDepth = 872.971580; finalDepth = 874.516383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.590566 # Actual altitude: 55.590566 # Commanded vehicle depth: 874.516383 # Seafloor depth: -926.497815 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058117 meters # Minimum depth: 922.971580 meters looking forward 200.000000 meters along route # Maximum depth: 926.159812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.971580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393342; longitude = -122.312172; duration = 200; initialDepth = 865.720685; finalDepth = 872.971580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.847232 # Actual altitude: 52.847232 # Commanded vehicle depth: 872.97158 # Seafloor depth: -925.818812 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058105 meters # Minimum depth: 915.720685 meters looking forward 200.000000 meters along route # Maximum depth: 925.448561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.720685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392441; longitude = -122.312127; duration = 200; initialDepth = 859.423764; finalDepth = 865.720685; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.987988 # Actual altitude: 56.987988 # Commanded vehicle depth: 865.720685 # Seafloor depth: -922.708673 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058092 meters # Minimum depth: 909.423764 meters looking forward 200.000000 meters along route # Maximum depth: 922.433134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 859.423764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391540; longitude = -122.312082; duration = 200; initialDepth = 852.222825; finalDepth = 859.423764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.987988 # Actual altitude: 56.987988 # Commanded vehicle depth: 859.423764 # Seafloor depth: -914.557982 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058080 meters # Minimum depth: 902.222825 meters looking forward 200.000000 meters along route # Maximum depth: 915.975992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.222825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390639; longitude = -122.312038; duration = 200; initialDepth = 844.193851; finalDepth = 852.222825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8435040000001 # Actual altitude: 56.8435040000001 # Commanded vehicle depth: 852.222825 # Seafloor depth: -909.066329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058067 meters # Minimum depth: 894.193851 meters looking forward 200.000000 meters along route # Maximum depth: 908.681450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.193851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389737; longitude = -122.311993; duration = 200; initialDepth = 828.743996; finalDepth = 844.193851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.106623 # Actual altitude: 58.106623 # Commanded vehicle depth: 844.193851 # Seafloor depth: -902.300474 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058054 meters # Minimum depth: 878.743996 meters looking forward 200.000000 meters along route # Maximum depth: 901.647226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.743996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388836; longitude = -122.311948; duration = 200; initialDepth = 826.904263; finalDepth = 828.743996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5103329999999 # Actual altitude: 63.5103329999999 # Commanded vehicle depth: 828.743996 # Seafloor depth: -892.254329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058042 meters # Minimum depth: 876.904263 meters looking forward 200.000000 meters along route # Maximum depth: 889.752973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.904263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387935; longitude = -122.311903; duration = 200; initialDepth = 819.005986; finalDepth = 826.904263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5103329999999 # Actual altitude: 63.5103329999999 # Commanded vehicle depth: 826.904263 # Seafloor depth: -876.904263 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058029 meters # Minimum depth: 869.005986 meters looking forward 200.000000 meters along route # Maximum depth: 882.038083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.005986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387033; longitude = -122.311859; duration = 200; initialDepth = 813.250371; finalDepth = 819.005986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.931526 # Actual altitude: 57.931526 # Commanded vehicle depth: 819.005986 # Seafloor depth: -876.937512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058017 meters # Minimum depth: 863.250371 meters looking forward 200.000000 meters along route # Maximum depth: 876.946879 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.250371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386132; longitude = -122.311814; duration = 200; initialDepth = 813.250371; finalDepth = 813.250371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.931526 # Actual altitude: 57.931526 # Commanded vehicle depth: 813.250371 # Seafloor depth: -869.376733 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.058004 meters # Minimum depth: 863.250371 meters looking forward 200.000000 meters along route # Maximum depth: 877.428363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 813.250371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385231; longitude = -122.311769; duration = 200; initialDepth = 815.613820; finalDepth = 813.250371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.126362 # Actual altitude: 56.126362 # Commanded vehicle depth: 813.250371 # Seafloor depth: -864.806868 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.057992 meters # Minimum depth: 865.613820 meters looking forward 200.000000 meters along route # Maximum depth: 885.270350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 815.613820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384329; longitude = -122.311724; duration = 200; initialDepth = 830.850573; finalDepth = 815.613820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.351639 # Actual altitude: 63.351639 # Commanded vehicle depth: 815.61382 # Seafloor depth: -878.965459 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 106.707521 meters # Minimum depth: 880.850573 meters looking forward 200.000000 meters along route # Maximum depth: 895.303279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.850573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383428; longitude = -122.311680; duration = 213; initialDepth = 843.102716; finalDepth = 830.850573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.351639 # Actual altitude: 63.351639 # Commanded vehicle depth: 830.850573 # Seafloor depth: -886.177462 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 168.504561 meters # Minimum depth: 893.102716 meters looking forward 200.000000 meters along route # Maximum depth: 898.162200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.102716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382467; longitude = -122.311632; duration = 337; # abortOnTimeout = True; initialDepth = 836.286809; finalDepth = 843.102716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3268889999999 # Actual altitude: 55.3268889999999 # Commanded vehicle depth: 843.102716 # Seafloor depth: -895.184311 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 41 # Segment length 108.055972 meters # Minimum depth: 886.286809 meters looking forward 200.000000 meters along route # Maximum depth: 898.162200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.286809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383712; longitude = -122.310555; duration = 216; initialDepth = 820.061864; finalDepth = 836.286809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.668091 # Actual altitude: 57.668091 # Commanded vehicle depth: 836.286809 # Seafloor depth: -893.954900 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.119088 meters # Minimum depth: 870.061864 meters looking forward 200.000000 meters along route # Maximum depth: 892.877317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.061864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384510; longitude = -122.309864; duration = 202; initialDepth = 789.173365; finalDepth = 820.061864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.259671 # Actual altitude: 65.259671 # Commanded vehicle depth: 820.061864 # Seafloor depth: -885.321535 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.319035 meters # Minimum depth: 839.173365 meters looking forward 200.000000 meters along route # Maximum depth: 884.078522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.173365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385257; longitude = -122.309218; duration = 212; initialDepth = 785.019947; finalDepth = 789.173365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7825360000001 # Actual altitude: 79.7825360000001 # Commanded vehicle depth: 789.173365 # Seafloor depth: -868.955901 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.854740 meters # Minimum depth: 835.019947 meters looking forward 200.000000 meters along route # Maximum depth: 861.464838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.019947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386042; longitude = -122.308538; duration = 205; initialDepth = 780.523210; finalDepth = 785.019947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.7825360000001 # Actual altitude: 79.7825360000001 # Commanded vehicle depth: 785.019947 # Seafloor depth: -838.914065 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.586405 meters # Minimum depth: 830.523210 meters looking forward 200.000000 meters along route # Maximum depth: 841.457865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.523210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386802; longitude = -122.307881; duration = 209; initialDepth = 780.523210; finalDepth = 780.523210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0812880000001 # Actual altitude: 54.0812880000001 # Commanded vehicle depth: 780.52321 # Seafloor depth: -834.604498 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.586083 meters # Minimum depth: 830.523210 meters looking forward 200.000000 meters along route # Maximum depth: 841.874774 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 780.523210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387574; longitude = -122.307212; duration = 209; initialDepth = 787.577578; finalDepth = 780.523210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7898660000001 # Actual altitude: 56.7898660000001 # Commanded vehicle depth: 780.52321 # Seafloor depth: -837.313076 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.585762 meters # Minimum depth: 837.577578 meters looking forward 200.000000 meters along route # Maximum depth: 847.316763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 787.577578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388347; longitude = -122.306544; duration = 209; initialDepth = 791.136673; finalDepth = 787.577578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7898660000001 # Actual altitude: 56.7898660000001 # Commanded vehicle depth: 787.577578 # Seafloor depth: -839.274993 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 108.077795 meters # Minimum depth: 841.136673 meters looking forward 200.000000 meters along route # Maximum depth: 847.316763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.136673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389119; longitude = -122.305875; duration = 216; initialDepth = 790.798234; finalDepth = 791.136673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.250884 # Actual altitude: 52.250884 # Commanded vehicle depth: 791.136673 # Seafloor depth: -843.387557 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.092765 meters # Minimum depth: 840.798234 meters looking forward 200.000000 meters along route # Maximum depth: 845.287120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.798234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389917; longitude = -122.305184; duration = 202; initialDepth = 790.798234; finalDepth = 790.798234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.250884 # Actual altitude: 52.250884 # Commanded vehicle depth: 790.798234 # Seafloor depth: -842.470620 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 106.340895 meters # Minimum depth: 840.798234 meters looking forward 200.000000 meters along route # Maximum depth: 857.644542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.798234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390664; longitude = -122.304538; duration = 212; initialDepth = 794.070127; finalDepth = 790.798234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.76428 # Actual altitude: 54.76428 # Commanded vehicle depth: 790.798234 # Seafloor depth: -845.562514 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 102.828380 meters # Minimum depth: 844.070127 meters looking forward 200.000000 meters along route # Maximum depth: 857.644542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.070127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391450; longitude = -122.303858; duration = 205; initialDepth = 791.149938; finalDepth = 794.070127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5123980000001 # Actual altitude: 63.5123980000001 # Commanded vehicle depth: 794.070127 # Seafloor depth: -857.582525 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.604016 meters # Minimum depth: 841.149938 meters looking forward 200.000000 meters along route # Maximum depth: 856.781468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.149938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392209; longitude = -122.303201; duration = 209; initialDepth = 791.112368; finalDepth = 791.149938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5123980000001 # Actual altitude: 63.5123980000001 # Commanded vehicle depth: 791.149938 # Seafloor depth: -843.795026 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.563972 meters # Minimum depth: 841.112368 meters looking forward 200.000000 meters along route # Maximum depth: 845.711775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.112368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392982; longitude = -122.302532; duration = 209; initialDepth = 791.112368; finalDepth = 791.112368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.645088 # Actual altitude: 52.645088 # Commanded vehicle depth: 791.112368 # Seafloor depth: -841.149268 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 104.583512 meters # Minimum depth: 841.112368 meters looking forward 200.000000 meters along route # Maximum depth: 854.808218 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.112368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393754; longitude = -122.301864; duration = 209; initialDepth = 796.240563; finalDepth = 791.112368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3715990000001 # Actual altitude: 54.3715990000001 # Commanded vehicle depth: 791.112368 # Seafloor depth: -845.483967 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 108.099617 meters # Minimum depth: 846.240563 meters looking forward 200.000000 meters along route # Maximum depth: 875.077643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.240563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394527; longitude = -122.301196; duration = 216; initialDepth = 808.631218; finalDepth = 796.240563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.782505 # Actual altitude: 58.782505 # Commanded vehicle depth: 796.240563 # Seafloor depth: -855.023068 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 109.815615 meters # Minimum depth: 858.631218 meters looking forward 200.000000 meters along route # Maximum depth: 898.342314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.631218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395325; longitude = -122.300505; duration = 219; initialDepth = 832.334346; finalDepth = 808.631218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.61801 # Actual altitude: 67.61801 # Commanded vehicle depth: 808.631218 # Seafloor depth: -876.249228 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 101.617662 meters # Minimum depth: 882.334346 meters looking forward 200.000000 meters along route # Maximum depth: 898.342314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.334346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396136; longitude = -122.299803; duration = 203; initialDepth = 835.867154; finalDepth = 832.334346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.61801 # Actual altitude: 67.61801 # Commanded vehicle depth: 832.334346 # Seafloor depth: -897.766890 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 180.790116 meters # Minimum depth: 885.867154 meters looking forward 200.000000 meters along route # Maximum depth: 894.746803 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.867154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396887; longitude = -122.299153; duration = 361; # abortOnTimeout = True; initialDepth = 820.387297; finalDepth = 835.867154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.432544 # Actual altitude: 65.432544 # Commanded vehicle depth: 835.867154 # Seafloor depth: -890.358948 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 40 # Segment length 108.463844 meters # Minimum depth: 870.387297 meters looking forward 200.000000 meters along route # Maximum depth: 892.487097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.387297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397521; longitude = -122.297296; duration = 216; initialDepth = 811.894116; finalDepth = 820.387297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.720369 # Actual altitude: 64.720369 # Commanded vehicle depth: 820.387297 # Seafloor depth: -885.107666 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 104.802928 meters # Minimum depth: 861.894116 meters looking forward 200.000000 meters along route # Maximum depth: 881.130205 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.894116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397901; longitude = -122.296182; duration = 209; initialDepth = 811.894116; finalDepth = 811.894116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 64.720369 # Actual altitude: 64.720369 # Commanded vehicle depth: 811.894116 # Seafloor depth: -869.329866 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 108.327257 meters # Minimum depth: 861.894116 meters looking forward 200.000000 meters along route # Maximum depth: 868.941351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.894116 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398269; longitude = -122.295105; duration = 216; # abortOnTimeout = True; initialDepth = 812.289786; finalDepth = 811.894116; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.43575 # Actual altitude: 57.43575 # Commanded vehicle depth: 811.894116 # Seafloor depth: -862.133667 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 103.941901 meters # Minimum depth: 862.289786 meters looking forward 200.000000 meters along route # Maximum depth: 893.914687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.289786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398893; longitude = -122.294176; duration = 207; initialDepth = 821.125503; finalDepth = 812.289786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9072319999999 # Actual altitude: 57.9072319999999 # Commanded vehicle depth: 812.289786 # Seafloor depth: -870.197018 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 105.835415 meters # Minimum depth: 871.125503 meters looking forward 200.000000 meters along route # Maximum depth: 925.431468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.125503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399492; longitude = -122.293285; duration = 211; initialDepth = 847.994075; finalDepth = 821.125503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7174630000001 # Actual altitude: 73.7174630000001 # Commanded vehicle depth: 821.125503 # Seafloor depth: -894.842966 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 102.047022 meters # Minimum depth: 897.994075 meters looking forward 200.000000 meters along route # Maximum depth: 986.069541 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.994075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400102; longitude = -122.292377; duration = 204; initialDepth = 880.641332; finalDepth = 847.994075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.019575 # Actual altitude: 78.019575 # Commanded vehicle depth: 847.994075 # Seafloor depth: -926.013650 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.940537 meters # Minimum depth: 930.641332 meters looking forward 200.000000 meters along route # Maximum depth: 1060.207491 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.641332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400690; longitude = -122.291502; duration = 207; initialDepth = 956.158551; finalDepth = 880.641332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.691061 # Actual altitude: 100 # Commanded vehicle depth: 880.641332 # Seafloor depth: -992.332393 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 106.821916 meters # Minimum depth: 1008.836624 meters looking forward 200.000000 meters along route # Maximum depth: 1149.358060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 956.158551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401289; longitude = -122.290611; duration = 213; initialDepth = 1015.479296; finalDepth = 956.158551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.691061 # Actual altitude: 100 # Commanded vehicle depth: 956.158550812129 # Seafloor depth: -1060.409786 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 109.482344 meters # Minimum depth: 1065.479296 meters looking forward 200.000000 meters along route # Maximum depth: 1199.617397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.479296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401905; longitude = -122.289694; duration = 218; initialDepth = 1095.022873; finalDepth = 1015.479296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 133.901798 # Actual altitude: 100 # Commanded vehicle depth: 1015.479296 # Seafloor depth: -1149.381094 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 104.196038 meters # Minimum depth: 1157.300204 meters looking forward 200.000000 meters along route # Maximum depth: 1227.986180 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.022873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402536; longitude = -122.288756; duration = 208; initialDepth = 1165.437902; finalDepth = 1095.022873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 133.901798 # Actual altitude: 100 # Commanded vehicle depth: 1095.02287318888 # Seafloor depth: -1203.230135 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 117.815813 meters # Minimum depth: 1215.437902 meters looking forward 200.000000 meters along route # Maximum depth: 1236.751191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.437902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403136; longitude = -122.287862; duration = 235; # abortOnTimeout = True; initialDepth = 1181.463573; finalDepth = 1165.437902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.207261811122 # Actual altitude: 100 # Commanded vehicle depth: 1165.437902 # Seafloor depth: -1229.803802 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 101.025075 meters # Minimum depth: 1231.463573 meters looking forward 200.000000 meters along route # Maximum depth: 1240.970020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.463573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402085; longitude = -122.287673; duration = 202; initialDepth = 1185.005359; finalDepth = 1181.463573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3659 # Actual altitude: 64.3659 # Commanded vehicle depth: 1181.463573 # Seafloor depth: -1236.918540 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.025087 meters # Minimum depth: 1235.005359 meters looking forward 200.000000 meters along route # Maximum depth: 1240.970020 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.005359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401184; longitude = -122.287512; duration = 202; initialDepth = 1184.224426; finalDepth = 1185.005359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4549669999999 # Actual altitude: 55.4549669999999 # Commanded vehicle depth: 1185.005359 # Seafloor depth: -1239.713392 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.025099 meters # Minimum depth: 1234.224426 meters looking forward 200.000000 meters along route # Maximum depth: 1240.332611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.224426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400282; longitude = -122.287350; duration = 202; initialDepth = 1184.224426; finalDepth = 1184.224426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7080330000001 # Actual altitude: 54.7080330000001 # Commanded vehicle depth: 1184.224426 # Seafloor depth: -1237.256329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 101.025109 meters # Minimum depth: 1234.224426 meters looking forward 200.000000 meters along route # Maximum depth: 1245.027387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.224426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399381; longitude = -122.287188; duration = 202; initialDepth = 1190.207065; finalDepth = 1184.224426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.496582 # Actual altitude: 54.496582 # Commanded vehicle depth: 1184.224426 # Seafloor depth: -1238.721008 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 104.438936 meters # Minimum depth: 1240.207065 meters looking forward 200.000000 meters along route # Maximum depth: 1254.886334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.207065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398480; longitude = -122.287026; duration = 208; initialDepth = 1199.117856; finalDepth = 1190.207065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.172959 # Actual altitude: 55.172959 # Commanded vehicle depth: 1190.207065 # Seafloor depth: -1245.380024 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 112.777398 meters # Minimum depth: 1249.117856 meters looking forward 200.000000 meters along route # Maximum depth: 1258.341758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1199.117856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397548; longitude = -122.286859; duration = 225; # abortOnTimeout = True; initialDepth = 1204.587188; finalDepth = 1199.117856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.210116 # Actual altitude: 56.210116 # Commanded vehicle depth: 1199.117856 # Seafloor depth: -1255.327972 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 105.049742 meters # Minimum depth: 1254.587188 meters looking forward 200.000000 meters along route # Maximum depth: 1261.993300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.587188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396677; longitude = -122.287508; duration = 210; initialDepth = 1208.615408; finalDepth = 1204.587188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.210116 # Actual altitude: 56.210116 # Commanded vehicle depth: 1204.587188 # Seafloor depth: -1258.403822 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.050014 meters # Minimum depth: 1258.615408 meters looking forward 200.000000 meters along route # Maximum depth: 1263.982904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1208.615408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395866; longitude = -122.288113; duration = 210; initialDepth = 1211.788552; finalDepth = 1208.615408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.816634 # Actual altitude: 53.816634 # Commanded vehicle depth: 1208.615408 # Seafloor depth: -1261.880592 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 105.050286 meters # Minimum depth: 1261.788552 meters looking forward 200.000000 meters along route # Maximum depth: 1265.590242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.788552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395055; longitude = -122.288717; duration = 210; initialDepth = 1211.991501; finalDepth = 1211.788552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2651840000001 # Actual altitude: 53.2651840000001 # Commanded vehicle depth: 1211.788552 # Seafloor depth: -1261.802857 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.825075 meters # Minimum depth: 1261.991501 meters looking forward 200.000000 meters along route # Maximum depth: 1270.793036 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.991501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394244; longitude = -122.289322; duration = 215; initialDepth = 1212.847229; finalDepth = 1211.991501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8118300000001 # Actual altitude: 52.8118300000001 # Commanded vehicle depth: 1211.991501 # Seafloor depth: -1264.803331 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.276310 meters # Minimum depth: 1262.847229 meters looking forward 200.000000 meters along route # Maximum depth: 1271.523418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.847229 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393411; longitude = -122.289942; duration = 204; initialDepth = 1218.278760; finalDepth = 1212.847229; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3028610000001 # Actual altitude: 57.3028610000001 # Commanded vehicle depth: 1212.847229 # Seafloor depth: -1270.150090 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 110.709375 meters # Minimum depth: 1268.278760 meters looking forward 200.000000 meters along route # Maximum depth: 1273.081115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.278760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392621; longitude = -122.290531; duration = 221; initialDepth = 1219.043130; finalDepth = 1218.278760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3028610000001 # Actual altitude: 57.3028610000001 # Commanded vehicle depth: 1218.27876 # Seafloor depth: -1271.427845 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 103.282477 meters # Minimum depth: 1269.043130 meters looking forward 200.000000 meters along route # Maximum depth: 1275.118999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.043130 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391767; longitude = -122.291168; duration = 206; initialDepth = 1170.192551; finalDepth = 1219.043130; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.945712 # Actual altitude: 53.945712 # Commanded vehicle depth: 1219.04313 # Seafloor depth: -1272.988842 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 36 # Segment length 139.428525 meters # Minimum depth: 1220.192551 meters looking forward 200.000000 meters along route # Maximum depth: 1275.118999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.192551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390969; longitude = -122.291762; duration = 278; # abortOnTimeout = True; initialDepth = 1151.716161; finalDepth = 1170.192551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.26213 # Actual altitude: 100 # Commanded vehicle depth: 1170.192551 # Seafloor depth: -1273.454681 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 102.027409 meters # Minimum depth: 1201.716161 meters looking forward 200.000000 meters along route # Maximum depth: 1259.214736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1151.716161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390715; longitude = -122.293285; duration = 204; initialDepth = 1133.419168; finalDepth = 1151.716161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.26213 # Actual altitude: 100 # Commanded vehicle depth: 1151.716161 # Seafloor depth: -1216.508660 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 105.408278 meters # Minimum depth: 1183.419168 meters looking forward 200.000000 meters along route # Maximum depth: 1217.053869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.419168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390530; longitude = -122.294399; duration = 210; initialDepth = 1133.306427; finalDepth = 1133.419168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.793445 # Actual altitude: 65.793445 # Commanded vehicle depth: 1133.419168 # Seafloor depth: -1199.212613 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 96.602822 meters # Minimum depth: 1183.306427 meters looking forward 200.000000 meters along route # Maximum depth: 1197.601196 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.306427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390338; longitude = -122.295550; duration = 193; # abortOnTimeout = True; initialDepth = 1133.306427; finalDepth = 1133.306427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.793445 # Actual altitude: 65.793445 # Commanded vehicle depth: 1133.306427 # Seafloor depth: -1183.306427 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 35 # Segment length 102.249799 meters # Minimum depth: 1183.306427 meters looking forward 200.000000 meters along route # Maximum depth: 1189.722900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1133.306427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389633; longitude = -122.296182; duration = 204; initialDepth = 1128.646610; finalDepth = 1133.306427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.263563 # Actual altitude: 55.263563 # Commanded vehicle depth: 1133.306427 # Seafloor depth: -1188.569990 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.250116 meters # Minimum depth: 1178.646610 meters looking forward 200.000000 meters along route # Maximum depth: 1189.722900 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1128.646610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388886; longitude = -122.296850; duration = 204; initialDepth = 1121.405496; finalDepth = 1128.646610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.263563 # Actual altitude: 55.263563 # Commanded vehicle depth: 1128.64661 # Seafloor depth: -1183.352686 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.250436 meters # Minimum depth: 1171.405496 meters looking forward 200.000000 meters along route # Maximum depth: 1181.888923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1121.405496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388139; longitude = -122.297519; duration = 204; initialDepth = 1115.668763; finalDepth = 1121.405496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7993059999999 # Actual altitude: 56.7993059999999 # Commanded vehicle depth: 1121.405496 # Seafloor depth: -1178.204802 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.250753 meters # Minimum depth: 1165.668763 meters looking forward 200.000000 meters along route # Maximum depth: 1179.247065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1115.668763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387393; longitude = -122.298187; duration = 204; initialDepth = 1106.448833; finalDepth = 1115.668763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7993059999999 # Actual altitude: 56.7993059999999 # Commanded vehicle depth: 1115.668763 # Seafloor depth: -1171.407697 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 107.397143 meters # Minimum depth: 1156.448833 meters looking forward 200.000000 meters along route # Maximum depth: 1170.607188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.448833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386646; longitude = -122.298856; duration = 214; initialDepth = 1088.345270; finalDepth = 1106.448833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9996410000001 # Actual altitude: 58.9996410000001 # Commanded vehicle depth: 1106.448833 # Seafloor depth: -1165.448474 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 35 # Segment length 102.800528 meters # Minimum depth: 1138.345270 meters looking forward 200.000000 meters along route # Maximum depth: 1162.140120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1088.345270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385862; longitude = -122.299558; duration = 205; initialDepth = 1087.583466; finalDepth = 1088.345270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.7018289999999 # Actual altitude: 67.7018289999999 # Commanded vehicle depth: 1088.34527 # Seafloor depth: -1156.047099 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 34 # Segment length 170.645797 meters # Minimum depth: 1137.583466 meters looking forward 200.000000 meters along route # Maximum depth: 1185.675071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.583466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385111; longitude = -122.300230; duration = 341; # abortOnTimeout = True; initialDepth = 1114.546407; finalDepth = 1087.583466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7018289999999 # Actual altitude: 67.7018289999999 # Commanded vehicle depth: 1087.583466 # Seafloor depth: -1137.583466 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 34 # Segment length 107.143970 meters # Minimum depth: 1164.546407 meters looking forward 200.000000 meters along route # Maximum depth: 1204.769958 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1114.546407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384275; longitude = -122.298633; duration = 214; initialDepth = 1139.422505; finalDepth = 1114.546407; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.8280459999999 # Actual altitude: 71.8280459999999 # Commanded vehicle depth: 1114.546407 # Seafloor depth: -1186.374453 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.144491 meters # Minimum depth: 1189.422505 meters looking forward 200.000000 meters along route # Maximum depth: 1231.505193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1139.422505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383750; longitude = -122.297630; duration = 214; initialDepth = 1162.713021; finalDepth = 1139.422505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.8280459999999 # Actual altitude: 71.8280459999999 # Commanded vehicle depth: 1139.422505 # Seafloor depth: -1206.640333 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 107.145009 meters # Minimum depth: 1212.713021 meters looking forward 200.000000 meters along route # Maximum depth: 1252.958551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.713021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383225; longitude = -122.296627; duration = 214; initialDepth = 1186.886353; finalDepth = 1162.713021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.095525 # Actual altitude: 70.095525 # Commanded vehicle depth: 1162.713021 # Seafloor depth: -1232.808546 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 109.002139 meters # Minimum depth: 1236.886353 meters looking forward 200.000000 meters along route # Maximum depth: 1271.390522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.886353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382700; longitude = -122.295625; duration = 218; initialDepth = 1206.119548; finalDepth = 1186.886353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.095525 # Actual altitude: 70.095525 # Commanded vehicle depth: 1186.886353 # Seafloor depth: -1253.194463 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 105.289440 meters # Minimum depth: 1256.119548 meters looking forward 200.000000 meters along route # Maximum depth: 1286.165654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.119548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382166; longitude = -122.294604; duration = 210; initialDepth = 1223.208181; finalDepth = 1206.119548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3081099999999 # Actual altitude: 66.3081099999999 # Commanded vehicle depth: 1206.119548 # Seafloor depth: -1271.703932 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 34 # Segment length 103.207502 meters # Minimum depth: 1273.208181 meters looking forward 200.000000 meters along route # Maximum depth: 1298.340587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1223.208181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381651; longitude = -122.293619; duration = 206; initialDepth = 1238.015936; finalDepth = 1223.208181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.584384 # Actual altitude: 65.584384 # Commanded vehicle depth: 1223.208181 # Seafloor depth: -1288.015936 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 86.955414 meters # Minimum depth: 1288.015936 meters looking forward 200.000000 meters along route # Maximum depth: 1299.095703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1238.015936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381145; longitude = -122.292653; duration = 173; # abortOnTimeout = True; initialDepth = 1224.361590; finalDepth = 1238.015936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.807755 # Actual altitude: 64.807755 # Commanded vehicle depth: 1238.015936 # Seafloor depth: -1299.095703 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 100.304547 meters # Minimum depth: 1274.361590 meters looking forward 200.000000 meters along route # Maximum depth: 1299.095703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.361590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381212; longitude = -122.293619; duration = 200; initialDepth = 1202.308301; finalDepth = 1224.361590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6885589999999 # Actual altitude: 63.6885589999999 # Commanded vehicle depth: 1224.36159 # Seafloor depth: -1288.050149 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.304433 meters # Minimum depth: 1252.308301 meters looking forward 200.000000 meters along route # Maximum depth: 1286.754113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.308301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381289; longitude = -122.294733; duration = 200; initialDepth = 1179.415258; finalDepth = 1202.308301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.7679679999999 # Actual altitude: 70.7679679999999 # Commanded vehicle depth: 1202.308301 # Seafloor depth: -1273.076269 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.304320 meters # Minimum depth: 1229.415258 meters looking forward 200.000000 meters along route # Maximum depth: 1270.213201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.415258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381366; longitude = -122.295847; duration = 200; initialDepth = 1153.473905; finalDepth = 1179.415258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.983459 # Actual altitude: 71.983459 # Commanded vehicle depth: 1179.415258 # Seafloor depth: -1251.398717 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.304205 meters # Minimum depth: 1203.473905 meters looking forward 200.000000 meters along route # Maximum depth: 1249.283254 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.473905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381443; longitude = -122.296962; duration = 200; initialDepth = 1129.964522; finalDepth = 1153.473905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.3195679999999 # Actual altitude: 73.3195679999999 # Commanded vehicle depth: 1153.473905 # Seafloor depth: -1226.793473 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.304092 meters # Minimum depth: 1179.964522 meters looking forward 200.000000 meters along route # Maximum depth: 1225.861423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1129.964522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381520; longitude = -122.298076; duration = 200; initialDepth = 1107.842045; finalDepth = 1129.964522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.3195679999999 # Actual altitude: 73.3195679999999 # Commanded vehicle depth: 1129.964522 # Seafloor depth: -1201.887798 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303979 meters # Minimum depth: 1157.842045 meters looking forward 200.000000 meters along route # Maximum depth: 1199.444338 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1107.842045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381597; longitude = -122.299190; duration = 200; initialDepth = 1082.505355; finalDepth = 1107.842045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.923276 # Actual altitude: 71.923276 # Commanded vehicle depth: 1107.842045 # Seafloor depth: -1177.309586 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303865 meters # Minimum depth: 1132.505355 meters looking forward 200.000000 meters along route # Maximum depth: 1174.384661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1082.505355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381674; longitude = -122.300304; duration = 200; initialDepth = 1046.254589; finalDepth = 1082.505355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.5649470000001 # Actual altitude: 74.5649470000001 # Commanded vehicle depth: 1082.505355 # Seafloor depth: -1157.070302 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303751 meters # Minimum depth: 1096.254589 meters looking forward 200.000000 meters along route # Maximum depth: 1154.314365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.254589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381751; longitude = -122.301418; duration = 200; initialDepth = 1013.841346; finalDepth = 1046.254589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5143750000002 # Actual altitude: 81.5143750000002 # Commanded vehicle depth: 1046.254589 # Seafloor depth: -1127.768964 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303637 meters # Minimum depth: 1063.841346 meters looking forward 200.000000 meters along route # Maximum depth: 1125.489053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.841346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381827; longitude = -122.302533; duration = 200; initialDepth = 974.139982; finalDepth = 1013.841346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.5143750000002 # Actual altitude: 81.5143750000002 # Commanded vehicle depth: 1013.841346 # Seafloor depth: -1093.434426 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303524 meters # Minimum depth: 1024.139982 meters looking forward 200.000000 meters along route # Maximum depth: 1089.463016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.139982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381904; longitude = -122.303647; duration = 200; initialDepth = 944.261605; finalDepth = 974.139982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.8089440000001 # Actual altitude: 83.8089440000001 # Commanded vehicle depth: 974.139982 # Seafloor depth: -1057.948926 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303411 meters # Minimum depth: 994.261605 meters looking forward 200.000000 meters along route # Maximum depth: 1053.333385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.261605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.381981; longitude = -122.304761; duration = 200; initialDepth = 921.459159; finalDepth = 944.261605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.8089440000001 # Actual altitude: 83.8089440000001 # Commanded vehicle depth: 944.261605 # Seafloor depth: -1021.072815 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303297 meters # Minimum depth: 971.459159 meters looking forward 200.000000 meters along route # Maximum depth: 1017.702186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.459159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382058; longitude = -122.305875; duration = 200; initialDepth = 902.354700; finalDepth = 921.459159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.81121 # Actual altitude: 76.81121 # Commanded vehicle depth: 921.459159 # Seafloor depth: -992.489817 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303183 meters # Minimum depth: 952.354700 meters looking forward 200.000000 meters along route # Maximum depth: 990.712346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.354700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382135; longitude = -122.306989; duration = 200; initialDepth = 884.368916; finalDepth = 902.354700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.030658 # Actual altitude: 71.030658 # Commanded vehicle depth: 902.3547 # Seafloor depth: -969.964235 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.303070 meters # Minimum depth: 934.368916 meters looking forward 200.000000 meters along route # Maximum depth: 968.146777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.368916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382212; longitude = -122.308104; duration = 200; initialDepth = 868.075924; finalDepth = 884.368916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.6095350000001 # Actual altitude: 67.6095350000001 # Commanded vehicle depth: 884.368916 # Seafloor depth: -951.509576 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302957 meters # Minimum depth: 918.075924 meters looking forward 200.000000 meters along route # Maximum depth: 949.355233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.075924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382289; longitude = -122.309218; duration = 200; initialDepth = 849.128278; finalDepth = 868.075924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.14066 # Actual altitude: 67.14066 # Commanded vehicle depth: 868.075924 # Seafloor depth: -932.417248 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302843 meters # Minimum depth: 899.128278 meters looking forward 200.000000 meters along route # Maximum depth: 931.021355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 849.128278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382366; longitude = -122.310332; duration = 200; initialDepth = 829.015497; finalDepth = 849.128278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.03855 # Actual altitude: 67.03855 # Commanded vehicle depth: 849.128278 # Seafloor depth: -916.166828 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302730 meters # Minimum depth: 879.015497 meters looking forward 200.000000 meters along route # Maximum depth: 914.492028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.015497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382443; longitude = -122.311446; duration = 200; initialDepth = 819.951524; finalDepth = 829.015497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.3593910000001 # Actual altitude: 68.3593910000001 # Commanded vehicle depth: 829.015497 # Seafloor depth: -897.374888 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302616 meters # Minimum depth: 869.951524 meters looking forward 200.000000 meters along route # Maximum depth: 895.437974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.951524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382520; longitude = -122.312560; duration = 200; initialDepth = 819.951524; finalDepth = 819.951524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.3593910000001 # Actual altitude: 68.3593910000001 # Commanded vehicle depth: 819.951524 # Seafloor depth: -879.607869 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302503 meters # Minimum depth: 869.951524 meters looking forward 200.000000 meters along route # Maximum depth: 876.687938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.951524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382597; longitude = -122.313675; duration = 200; initialDepth = 820.279180; finalDepth = 819.951524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6563450000001 # Actual altitude: 59.6563450000001 # Commanded vehicle depth: 819.951524 # Seafloor depth: -870.492109 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302390 meters # Minimum depth: 870.279180 meters looking forward 200.000000 meters along route # Maximum depth: 886.657889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.279180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382674; longitude = -122.314789; duration = 200; initialDepth = 828.555628; finalDepth = 820.279180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.956149 # Actual altitude: 54.956149 # Commanded vehicle depth: 820.27918 # Seafloor depth: -875.235329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302277 meters # Minimum depth: 878.555628 meters looking forward 200.000000 meters along route # Maximum depth: 909.686847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.555628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382751; longitude = -122.315903; duration = 200; initialDepth = 843.295085; finalDepth = 828.555628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.022553 # Actual altitude: 62.022553 # Commanded vehicle depth: 828.555628 # Seafloor depth: -890.578181 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302163 meters # Minimum depth: 893.295085 meters looking forward 200.000000 meters along route # Maximum depth: 930.492506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.295085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382828; longitude = -122.317017; duration = 200; initialDepth = 864.370164; finalDepth = 843.295085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.8035600000001 # Actual altitude: 67.8035600000001 # Commanded vehicle depth: 843.295085 # Seafloor depth: -911.098645 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.302050 meters # Minimum depth: 914.370164 meters looking forward 200.000000 meters along route # Maximum depth: 952.988421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.370164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382905; longitude = -122.318132; duration = 200; initialDepth = 882.946060; finalDepth = 864.370164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.8035600000001 # Actual altitude: 67.8035600000001 # Commanded vehicle depth: 864.370164 # Seafloor depth: -930.459005 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301936 meters # Minimum depth: 932.946060 meters looking forward 200.000000 meters along route # Maximum depth: 969.750766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.946060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382982; longitude = -122.319246; duration = 200; initialDepth = 908.589977; finalDepth = 882.946060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.981564 # Actual altitude: 71.981564 # Commanded vehicle depth: 882.94606 # Seafloor depth: -954.927624 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301824 meters # Minimum depth: 958.589977 meters looking forward 200.000000 meters along route # Maximum depth: 971.443296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 908.589977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383059; longitude = -122.320360; duration = 200; initialDepth = 919.587040; finalDepth = 908.589977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.981564 # Actual altitude: 71.981564 # Commanded vehicle depth: 908.589977 # Seafloor depth: -969.099389 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301710 meters # Minimum depth: 969.587040 meters looking forward 200.000000 meters along route # Maximum depth: 974.174705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.587040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383136; longitude = -122.321474; duration = 200; initialDepth = 921.349478; finalDepth = 919.587040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.509412 # Actual altitude: 60.509412 # Commanded vehicle depth: 919.58704 # Seafloor depth: -971.991344 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301597 meters # Minimum depth: 971.349478 meters looking forward 200.000000 meters along route # Maximum depth: 974.600359 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.349478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383213; longitude = -122.322588; duration = 200; initialDepth = 923.178238; finalDepth = 921.349478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.150432 # Actual altitude: 53.150432 # Commanded vehicle depth: 921.349478 # Seafloor depth: -974.499910 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301484 meters # Minimum depth: 973.178238 meters looking forward 200.000000 meters along route # Maximum depth: 976.643726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.178238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383290; longitude = -122.323703; duration = 200; initialDepth = 924.525000; finalDepth = 923.178238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.150432 # Actual altitude: 53.150432 # Commanded vehicle depth: 923.178238 # Seafloor depth: -974.245097 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301371 meters # Minimum depth: 974.525000 meters looking forward 200.000000 meters along route # Maximum depth: 981.215969 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.525000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383367; longitude = -122.324817; duration = 200; initialDepth = 927.350523; finalDepth = 924.525000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.940821 # Actual altitude: 52.940821 # Commanded vehicle depth: 924.525 # Seafloor depth: -977.465821 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301258 meters # Minimum depth: 977.350523 meters looking forward 200.000000 meters along route # Maximum depth: 988.703100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.350523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383444; longitude = -122.325931; duration = 200; initialDepth = 932.044821; finalDepth = 927.350523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2401060000001 # Actual altitude: 54.2401060000001 # Commanded vehicle depth: 927.350523 # Seafloor depth: -981.590629 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301145 meters # Minimum depth: 982.044821 meters looking forward 200.000000 meters along route # Maximum depth: 996.170868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.044821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383521; longitude = -122.327045; duration = 200; initialDepth = 939.094002; finalDepth = 932.044821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8083810000001 # Actual altitude: 56.8083810000001 # Commanded vehicle depth: 932.044821 # Seafloor depth: -988.853202 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.301032 meters # Minimum depth: 989.094002 meters looking forward 200.000000 meters along route # Maximum depth: 1002.689742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.094002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383598; longitude = -122.328159; duration = 200; initialDepth = 947.534287; finalDepth = 939.094002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.731624 # Actual altitude: 57.731624 # Commanded vehicle depth: 939.094002 # Seafloor depth: -996.825626 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300919 meters # Minimum depth: 997.534287 meters looking forward 200.000000 meters along route # Maximum depth: 1010.138336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.534287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383675; longitude = -122.329274; duration = 200; initialDepth = 954.066749; finalDepth = 947.534287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.731624 # Actual altitude: 57.731624 # Commanded vehicle depth: 947.534287 # Seafloor depth: -1003.170238 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300806 meters # Minimum depth: 1004.066749 meters looking forward 200.000000 meters along route # Maximum depth: 1016.688453 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.066749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383752; longitude = -122.330388; duration = 200; initialDepth = 961.933827; finalDepth = 954.066749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.207748 # Actual altitude: 58.207748 # Commanded vehicle depth: 954.066749 # Seafloor depth: -1012.274497 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300693 meters # Minimum depth: 1011.933827 meters looking forward 200.000000 meters along route # Maximum depth: 1025.224248 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.933827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383829; longitude = -122.331502; duration = 200; initialDepth = 968.587974; finalDepth = 961.933827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.207748 # Actual altitude: 58.207748 # Commanded vehicle depth: 961.933827 # Seafloor depth: -1017.655541 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300580 meters # Minimum depth: 1018.587974 meters looking forward 200.000000 meters along route # Maximum depth: 1035.578239 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.587974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383906; longitude = -122.332616; duration = 200; initialDepth = 975.606333; finalDepth = 968.587974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.837217 # Actual altitude: 56.837217 # Commanded vehicle depth: 968.587974 # Seafloor depth: -1025.425191 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300467 meters # Minimum depth: 1025.606333 meters looking forward 200.000000 meters along route # Maximum depth: 1045.161988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.606333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383983; longitude = -122.333730; duration = 200; initialDepth = 986.796867; finalDepth = 975.606333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.204457 # Actual altitude: 60.204457 # Commanded vehicle depth: 975.606333 # Seafloor depth: -1035.810790 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300354 meters # Minimum depth: 1036.796867 meters looking forward 200.000000 meters along route # Maximum depth: 1052.949829 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 986.796867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384060; longitude = -122.334845; duration = 200; initialDepth = 997.175508; finalDepth = 986.796867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.204457 # Actual altitude: 60.204457 # Commanded vehicle depth: 986.796867 # Seafloor depth: -1045.325463 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300241 meters # Minimum depth: 1047.175508 meters looking forward 200.000000 meters along route # Maximum depth: 1062.959929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.175508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384137; longitude = -122.335959; duration = 200; initialDepth = 1004.126835; finalDepth = 997.175508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5285959999999 # Actual altitude: 58.5285959999999 # Commanded vehicle depth: 997.175508 # Seafloor depth: -1053.492299 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300129 meters # Minimum depth: 1054.126835 meters looking forward 200.000000 meters along route # Maximum depth: 1069.866315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.126835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384214; longitude = -122.337073; duration = 200; initialDepth = 1013.707518; finalDepth = 1004.126835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7197799999999 # Actual altitude: 59.7197799999999 # Commanded vehicle depth: 1004.126835 # Seafloor depth: -1063.846615 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 100.300016 meters # Minimum depth: 1063.707518 meters looking forward 200.000000 meters along route # Maximum depth: 1079.330737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.707518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384291; longitude = -122.338187; duration = 200; initialDepth = 1021.193520; finalDepth = 1013.707518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7197799999999 # Actual altitude: 59.7197799999999 # Commanded vehicle depth: 1013.707518 # Seafloor depth: -1069.562169 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 33 # Segment length 106.986559 meters # Minimum depth: 1071.193520 meters looking forward 200.000000 meters along route # Maximum depth: 1086.879100 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.193520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384368; longitude = -122.339302; duration = 213; initialDepth = 1035.983135; finalDepth = 1021.193520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.7730750000001 # Actual altitude: 58.7730750000001 # Commanded vehicle depth: 1021.19352 # Seafloor depth: -1079.966595 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 155.061539 meters # Minimum depth: 1085.983135 meters looking forward 200.000000 meters along route # Maximum depth: 1095.864836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1035.983135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384450; longitude = -122.340490; duration = 310; # abortOnTimeout = True; initialDepth = 1041.214759; finalDepth = 1035.983135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.7730750000001 # Actual altitude: 58.7730750000001 # Commanded vehicle depth: 1035.983135 # Seafloor depth: -1087.008952 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 93.623472 meters # Minimum depth: 1091.214759 meters looking forward 200.000000 meters along route # Maximum depth: 1096.355062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.214759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385832; longitude = -122.340230; duration = 187; # abortOnTimeout = True; initialDepth = 1036.686734; finalDepth = 1041.214759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1403030000001 # Actual altitude: 55.1403030000001 # Commanded vehicle depth: 1041.214759 # Seafloor depth: -1096.355062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 100.310973 meters # Minimum depth: 1086.686734 meters looking forward 200.000000 meters along route # Maximum depth: 1096.355062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.686734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385759; longitude = -122.339190; duration = 200; initialDepth = 1029.000248; finalDepth = 1036.686734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1403030000001 # Actual altitude: 55.1403030000001 # Commanded vehicle depth: 1036.686734 # Seafloor depth: -1091.807741 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311087 meters # Minimum depth: 1079.000248 meters looking forward 200.000000 meters along route # Maximum depth: 1092.139104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1029.000248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385680; longitude = -122.338076; duration = 200; initialDepth = 1019.593466; finalDepth = 1029.000248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6218999999999 # Actual altitude: 57.6218999999999 # Commanded vehicle depth: 1029.000248 # Seafloor depth: -1086.622148 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311203 meters # Minimum depth: 1069.593466 meters looking forward 200.000000 meters along route # Maximum depth: 1087.111786 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1019.593466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385602; longitude = -122.336962; duration = 200; initialDepth = 1011.157671; finalDepth = 1019.593466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9588979999999 # Actual altitude: 57.9588979999999 # Commanded vehicle depth: 1019.593466 # Seafloor depth: -1077.552364 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311316 meters # Minimum depth: 1061.157671 meters looking forward 200.000000 meters along route # Maximum depth: 1077.399516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.157671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385524; longitude = -122.335847; duration = 200; initialDepth = 1001.532912; finalDepth = 1011.157671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9588979999999 # Actual altitude: 57.9588979999999 # Commanded vehicle depth: 1011.157671 # Seafloor depth: -1068.441898 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311432 meters # Minimum depth: 1051.532912 meters looking forward 200.000000 meters along route # Maximum depth: 1067.413516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.532912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385445; longitude = -122.334733; duration = 200; initialDepth = 987.165919; finalDepth = 1001.532912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5292690000001 # Actual altitude: 58.5292690000001 # Commanded vehicle depth: 1001.532912 # Seafloor depth: -1060.062181 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311545 meters # Minimum depth: 1037.165919 meters looking forward 200.000000 meters along route # Maximum depth: 1059.023789 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.165919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385367; longitude = -122.333619; duration = 200; initialDepth = 980.750399; finalDepth = 987.165919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0883039999999 # Actual altitude: 63.0883039999999 # Commanded vehicle depth: 987.165919 # Seafloor depth: -1050.254223 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311661 meters # Minimum depth: 1030.750399 meters looking forward 200.000000 meters along route # Maximum depth: 1048.046363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.750399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385289; longitude = -122.332505; duration = 200; initialDepth = 972.962319; finalDepth = 980.750399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0883039999999 # Actual altitude: 63.0883039999999 # Commanded vehicle depth: 980.750399 # Seafloor depth: -1036.256044 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311775 meters # Minimum depth: 1022.962319 meters looking forward 200.000000 meters along route # Maximum depth: 1036.811307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 972.962319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385210; longitude = -122.331391; duration = 200; initialDepth = 964.578432; finalDepth = 972.962319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.034263 # Actual altitude: 56.034263 # Commanded vehicle depth: 972.962319 # Seafloor depth: -1028.996582 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.311890 meters # Minimum depth: 1014.578432 meters looking forward 200.000000 meters along route # Maximum depth: 1028.183923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.578432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385132; longitude = -122.330276; duration = 200; initialDepth = 957.542842; finalDepth = 964.578432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.013902 # Actual altitude: 57.013902 # Commanded vehicle depth: 964.578432 # Seafloor depth: -1021.592334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312005 meters # Minimum depth: 1007.542842 meters looking forward 200.000000 meters along route # Maximum depth: 1020.205242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.542842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385054; longitude = -122.329162; duration = 200; initialDepth = 950.288861; finalDepth = 957.542842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.080726 # Actual altitude: 57.080726 # Commanded vehicle depth: 957.542842 # Seafloor depth: -1014.623568 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312119 meters # Minimum depth: 1000.288861 meters looking forward 200.000000 meters along route # Maximum depth: 1014.354989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.288861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384975; longitude = -122.328048; duration = 200; initialDepth = 941.415310; finalDepth = 950.288861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.080726 # Actual altitude: 57.080726 # Commanded vehicle depth: 950.288861 # Seafloor depth: -1006.113277 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312234 meters # Minimum depth: 991.415310 meters looking forward 200.000000 meters along route # Maximum depth: 1003.909510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.415310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384897; longitude = -122.326934; duration = 200; initialDepth = 934.996395; finalDepth = 941.415310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.223246 # Actual altitude: 58.223246 # Commanded vehicle depth: 941.41531 # Seafloor depth: -999.638556 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312349 meters # Minimum depth: 984.996395 meters looking forward 200.000000 meters along route # Maximum depth: 999.357299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.996395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384819; longitude = -122.325820; duration = 200; initialDepth = 932.157209; finalDepth = 934.996395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.223246 # Actual altitude: 58.223246 # Commanded vehicle depth: 934.996395 # Seafloor depth: -990.576684 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312463 meters # Minimum depth: 982.157209 meters looking forward 200.000000 meters along route # Maximum depth: 989.360095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.157209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384741; longitude = -122.324705; duration = 200; initialDepth = 929.521149; finalDepth = 932.157209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.580289 # Actual altitude: 55.580289 # Commanded vehicle depth: 932.157209 # Seafloor depth: -984.759921 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312578 meters # Minimum depth: 979.521149 meters looking forward 200.000000 meters along route # Maximum depth: 984.612634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.521149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384662; longitude = -122.323591; duration = 200; initialDepth = 928.492120; finalDepth = 929.521149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.602712 # Actual altitude: 52.602712 # Commanded vehicle depth: 929.521149 # Seafloor depth: -981.721368 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312694 meters # Minimum depth: 978.492120 meters looking forward 200.000000 meters along route # Maximum depth: 981.442764 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.492120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384584; longitude = -122.322477; duration = 200; initialDepth = 928.061545; finalDepth = 928.492120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2002189999999 # Actual altitude: 52.2002189999999 # Commanded vehicle depth: 928.49212 # Seafloor depth: -979.407773 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312808 meters # Minimum depth: 978.061545 meters looking forward 200.000000 meters along route # Maximum depth: 979.495581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.061545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384506; longitude = -122.321363; duration = 200; initialDepth = 903.355037; finalDepth = 928.061545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.915653 # Actual altitude: 50.915653 # Commanded vehicle depth: 928.061545 # Seafloor depth: -978.746045 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.312923 meters # Minimum depth: 953.355037 meters looking forward 200.000000 meters along route # Maximum depth: 979.043078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.355037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384427; longitude = -122.320249; duration = 200; initialDepth = 877.056377; finalDepth = 903.355037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.688041 # Actual altitude: 75.688041 # Commanded vehicle depth: 903.355037 # Seafloor depth: -979.043078 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313038 meters # Minimum depth: 927.056377 meters looking forward 200.000000 meters along route # Maximum depth: 973.708015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.056377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384349; longitude = -122.319134; duration = 200; initialDepth = 850.620560; finalDepth = 877.056377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.688041 # Actual altitude: 75.688041 # Commanded vehicle depth: 877.056377 # Seafloor depth: -952.338516 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313152 meters # Minimum depth: 900.620560 meters looking forward 200.000000 meters along route # Maximum depth: 949.227627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.620560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384271; longitude = -122.318020; duration = 200; initialDepth = 837.614389; finalDepth = 850.620560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.282139 # Actual altitude: 75.282139 # Commanded vehicle depth: 850.62056 # Seafloor depth: -924.420174 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313268 meters # Minimum depth: 887.614389 meters looking forward 200.000000 meters along route # Maximum depth: 921.579671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 837.614389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384192; longitude = -122.316906; duration = 200; initialDepth = 825.373627; finalDepth = 837.614389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.799614 # Actual altitude: 73.799614 # Commanded vehicle depth: 837.614389 # Seafloor depth: -898.497630 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313383 meters # Minimum depth: 875.373627 meters looking forward 200.000000 meters along route # Maximum depth: 897.188512 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 825.373627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384114; longitude = -122.315792; duration = 200; initialDepth = 819.857996; finalDepth = 825.373627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6651089999999 # Actual altitude: 61.6651089999999 # Commanded vehicle depth: 825.373627 # Seafloor depth: -887.038736 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313498 meters # Minimum depth: 869.857996 meters looking forward 200.000000 meters along route # Maximum depth: 886.187777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.857996 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384036; longitude = -122.314677; duration = 200; initialDepth = 817.781966; finalDepth = 819.857996; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6651089999999 # Actual altitude: 61.6651089999999 # Commanded vehicle depth: 819.857996 # Seafloor depth: -875.206336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313613 meters # Minimum depth: 867.781966 meters looking forward 200.000000 meters along route # Maximum depth: 876.083075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.781966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383957; longitude = -122.313563; duration = 200; initialDepth = 817.781966; finalDepth = 817.781966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.34834 # Actual altitude: 55.34834 # Commanded vehicle depth: 817.781966 # Seafloor depth: -870.169402 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313728 meters # Minimum depth: 867.781966 meters looking forward 200.000000 meters along route # Maximum depth: 886.348668 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.781966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383879; longitude = -122.312449; duration = 200; initialDepth = 820.359171; finalDepth = 817.781966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.387436 # Actual altitude: 52.387436 # Commanded vehicle depth: 817.781966 # Seafloor depth: -869.680185 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313843 meters # Minimum depth: 870.359171 meters looking forward 200.000000 meters along route # Maximum depth: 896.849285 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.359171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383801; longitude = -122.311335; duration = 200; initialDepth = 836.444563; finalDepth = 820.359171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.91857 # Actual altitude: 65.91857 # Commanded vehicle depth: 820.359171 # Seafloor depth: -886.277741 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.313958 meters # Minimum depth: 886.444563 meters looking forward 200.000000 meters along route # Maximum depth: 914.286315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.444563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383723; longitude = -122.310221; duration = 200; initialDepth = 848.296690; finalDepth = 836.444563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.91857 # Actual altitude: 65.91857 # Commanded vehicle depth: 836.444563 # Seafloor depth: -898.155284 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314073 meters # Minimum depth: 898.296690 meters looking forward 200.000000 meters along route # Maximum depth: 931.076044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.296690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383644; longitude = -122.309106; duration = 200; initialDepth = 868.020856; finalDepth = 848.296690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.2796049999999 # Actual altitude: 68.2796049999999 # Commanded vehicle depth: 848.29669 # Seafloor depth: -916.576295 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314188 meters # Minimum depth: 918.020856 meters looking forward 200.000000 meters along route # Maximum depth: 961.198988 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.020856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383566; longitude = -122.307992; duration = 200; initialDepth = 887.454185; finalDepth = 868.020856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.2796049999999 # Actual altitude: 68.2796049999999 # Commanded vehicle depth: 868.020856 # Seafloor depth: -934.695318 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314304 meters # Minimum depth: 937.454185 meters looking forward 200.000000 meters along route # Maximum depth: 987.664755 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 887.454185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383488; longitude = -122.306878; duration = 200; initialDepth = 917.347398; finalDepth = 887.454185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.601239 # Actual altitude: 76.601239 # Commanded vehicle depth: 887.454185 # Seafloor depth: -964.055424 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314419 meters # Minimum depth: 967.347398 meters looking forward 200.000000 meters along route # Maximum depth: 1017.888387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.347398 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383409; longitude = -122.305764; duration = 200; initialDepth = 943.765768; finalDepth = 917.347398; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.601239 # Actual altitude: 76.601239 # Commanded vehicle depth: 917.347398 # Seafloor depth: -990.745072 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314534 meters # Minimum depth: 993.765768 meters looking forward 200.000000 meters along route # Maximum depth: 1053.571279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.765768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383331; longitude = -122.304650; duration = 200; initialDepth = 975.538134; finalDepth = 943.765768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.383179 # Actual altitude: 76.383179 # Commanded vehicle depth: 943.765768 # Seafloor depth: -1020.148947 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314649 meters # Minimum depth: 1025.538134 meters looking forward 200.000000 meters along route # Maximum depth: 1090.210389 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.538134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383253; longitude = -122.303535; duration = 200; initialDepth = 1010.892572; finalDepth = 975.538134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9914430000001 # Actual altitude: 81.9914430000001 # Commanded vehicle depth: 975.538134 # Seafloor depth: -1057.529577 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314765 meters # Minimum depth: 1060.892572 meters looking forward 200.000000 meters along route # Maximum depth: 1121.128807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.892572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383174; longitude = -122.302421; duration = 200; initialDepth = 1044.586856; finalDepth = 1010.892572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9914430000001 # Actual altitude: 81.9914430000001 # Commanded vehicle depth: 1010.892572 # Seafloor depth: -1092.537847 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314880 meters # Minimum depth: 1094.586856 meters looking forward 200.000000 meters along route # Maximum depth: 1145.704520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.586856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383096; longitude = -122.301307; duration = 200; initialDepth = 1075.987580; finalDepth = 1044.586856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.6452750000001 # Actual altitude: 81.6452750000001 # Commanded vehicle depth: 1044.586856 # Seafloor depth: -1125.102835 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.314995 meters # Minimum depth: 1125.987580 meters looking forward 200.000000 meters along route # Maximum depth: 1174.206800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1075.987580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383018; longitude = -122.300193; duration = 200; initialDepth = 1101.338590; finalDepth = 1075.987580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.515979 # Actual altitude: 80.515979 # Commanded vehicle depth: 1075.98758 # Seafloor depth: -1149.046877 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.315111 meters # Minimum depth: 1151.338590 meters looking forward 200.000000 meters along route # Maximum depth: 1200.509790 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1101.338590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382939; longitude = -122.299079; duration = 200; initialDepth = 1130.149109; finalDepth = 1101.338590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.845108 # Actual altitude: 74.845108 # Commanded vehicle depth: 1101.33859 # Seafloor depth: -1176.183698 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.315226 meters # Minimum depth: 1180.149109 meters looking forward 200.000000 meters along route # Maximum depth: 1224.998669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1130.149109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382861; longitude = -122.297964; duration = 200; initialDepth = 1154.525610; finalDepth = 1130.149109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.845108 # Actual altitude: 74.845108 # Commanded vehicle depth: 1130.149109 # Seafloor depth: -1201.998726 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.315341 meters # Minimum depth: 1204.525610 meters looking forward 200.000000 meters along route # Maximum depth: 1250.274398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.525610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382783; longitude = -122.296850; duration = 200; initialDepth = 1179.704043; finalDepth = 1154.525610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.812676 # Actual altitude: 72.812676 # Commanded vehicle depth: 1154.52561 # Seafloor depth: -1227.338286 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.315457 meters # Minimum depth: 1229.704043 meters looking forward 200.000000 meters along route # Maximum depth: 1267.487543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.704043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382705; longitude = -122.295736; duration = 200; initialDepth = 1203.196040; finalDepth = 1179.704043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.812676 # Actual altitude: 72.812676 # Commanded vehicle depth: 1179.704043 # Seafloor depth: -1251.191180 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 100.315572 meters # Minimum depth: 1253.196040 meters looking forward 200.000000 meters along route # Maximum depth: 1282.212051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.196040 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382626; longitude = -122.294622; duration = 200; initialDepth = 1220.559311; finalDepth = 1203.196040; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4871370000001 # Actual altitude: 71.4871370000001 # Commanded vehicle depth: 1203.19604 # Seafloor depth: -1269.843038 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 103.673211 meters # Minimum depth: 1270.559311 meters looking forward 200.000000 meters along route # Maximum depth: 1292.537147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1220.559311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382548; longitude = -122.293508; duration = 207; initialDepth = 1237.204701; finalDepth = 1220.559311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.6469979999999 # Actual altitude: 66.6469979999999 # Commanded vehicle depth: 1220.559311 # Seafloor depth: -1283.426552 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 151.301557 meters # Minimum depth: 1287.204701 meters looking forward 200.000000 meters along route # Maximum depth: 1293.377808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1237.204701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.382467; longitude = -122.292356; duration = 302; # abortOnTimeout = True; initialDepth = 1230.677166; finalDepth = 1237.204701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.8672409999999 # Actual altitude: 62.8672409999999 # Commanded vehicle depth: 1237.204701 # Seafloor depth: -1292.558746 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 83.624319 meters # Minimum depth: 1280.677166 meters looking forward 200.000000 meters along route # Maximum depth: 1293.183379 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1230.677166 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383819; longitude = -122.292133; duration = 167; # abortOnTimeout = True; initialDepth = 1219.398223; finalDepth = 1230.677166; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4405100000001 # Actual altitude: 56.4405100000001 # Commanded vehicle depth: 1230.677166 # Seafloor depth: -1287.117676 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.315614 meters # Minimum depth: 1269.398223 meters looking forward 200.000000 meters along route # Maximum depth: 1287.901915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.398223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383884; longitude = -122.293062; duration = 200; initialDepth = 1203.992193; finalDepth = 1219.398223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8610880000001 # Actual altitude: 60.8610880000001 # Commanded vehicle depth: 1219.398223 # Seafloor depth: -1280.259311 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.315499 meters # Minimum depth: 1253.992193 meters looking forward 200.000000 meters along route # Maximum depth: 1279.119456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.992193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.383963; longitude = -122.294176; duration = 200; initialDepth = 1185.362523; finalDepth = 1203.992193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.3474650000001 # Actual altitude: 64.3474650000001 # Commanded vehicle depth: 1203.992193 # Seafloor depth: -1268.339658 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.315384 meters # Minimum depth: 1235.362523 meters looking forward 200.000000 meters along route # Maximum depth: 1267.387108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1185.362523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384041; longitude = -122.295290; duration = 200; initialDepth = 1159.652933; finalDepth = 1185.362523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.73785 # Actual altitude: 66.73785 # Commanded vehicle depth: 1185.362523 # Seafloor depth: -1252.100373 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.315267 meters # Minimum depth: 1209.652933 meters looking forward 200.000000 meters along route # Maximum depth: 1251.822224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1159.652933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384120; longitude = -122.296404; duration = 200; initialDepth = 1137.861887; finalDepth = 1159.652933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.650046 # Actual altitude: 71.650046 # Commanded vehicle depth: 1159.652933 # Seafloor depth: -1231.302979 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.315152 meters # Minimum depth: 1187.861887 meters looking forward 200.000000 meters along route # Maximum depth: 1228.348614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.861887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384198; longitude = -122.297519; duration = 200; initialDepth = 1112.475691; finalDepth = 1137.861887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.650046 # Actual altitude: 71.650046 # Commanded vehicle depth: 1137.861887 # Seafloor depth: -1207.456802 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.315037 meters # Minimum depth: 1162.475691 meters looking forward 200.000000 meters along route # Maximum depth: 1204.808760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.475691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384277; longitude = -122.298633; duration = 200; initialDepth = 1081.939459; finalDepth = 1112.475691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.876865 # Actual altitude: 73.876865 # Commanded vehicle depth: 1112.475691 # Seafloor depth: -1186.352556 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314920 meters # Minimum depth: 1131.939459 meters looking forward 200.000000 meters along route # Maximum depth: 1184.707406 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.939459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384355; longitude = -122.299747; duration = 200; initialDepth = 1049.734991; finalDepth = 1081.939459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7684690000001 # Actual altitude: 76.7684690000001 # Commanded vehicle depth: 1081.939459 # Seafloor depth: -1158.707928 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314806 meters # Minimum depth: 1099.734991 meters looking forward 200.000000 meters along route # Maximum depth: 1154.865904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.734991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384434; longitude = -122.300861; duration = 200; initialDepth = 1034.536591; finalDepth = 1049.734991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.7684690000001 # Actual altitude: 76.7684690000001 # Commanded vehicle depth: 1049.734991 # Seafloor depth: -1125.760034 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314689 meters # Minimum depth: 1084.536591 meters looking forward 200.000000 meters along route # Maximum depth: 1120.886728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1034.536591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384512; longitude = -122.301976; duration = 200; initialDepth = 1000.673468; finalDepth = 1034.536591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.0250429999999 # Actual altitude: 76.0250429999999 # Commanded vehicle depth: 1034.536591 # Seafloor depth: -1099.161275 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314575 meters # Minimum depth: 1050.673468 meters looking forward 200.000000 meters along route # Maximum depth: 1097.458164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1000.673468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384591; longitude = -122.303090; duration = 200; initialDepth = 951.175869; finalDepth = 1000.673468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.0056 # Actual altitude: 83.0056 # Commanded vehicle depth: 1000.673468 # Seafloor depth: -1083.679068 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314458 meters # Minimum depth: 1001.175869 meters looking forward 200.000000 meters along route # Maximum depth: 1079.010738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 951.175869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384669; longitude = -122.304204; duration = 200; initialDepth = 907.501224; finalDepth = 951.175869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.526774 # Actual altitude: 93.526774 # Commanded vehicle depth: 951.175869 # Seafloor depth: -1044.702643 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314344 meters # Minimum depth: 957.501224 meters looking forward 200.000000 meters along route # Maximum depth: 1042.559422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.501224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384748; longitude = -122.305318; duration = 200; initialDepth = 865.995515; finalDepth = 907.501224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.526774 # Actual altitude: 93.526774 # Commanded vehicle depth: 907.501224 # Seafloor depth: -996.026070 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314228 meters # Minimum depth: 915.995515 meters looking forward 200.000000 meters along route # Maximum depth: 990.506131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.995515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384826; longitude = -122.306432; duration = 200; initialDepth = 836.539491; finalDepth = 865.995515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.524846 # Actual altitude: 88.524846 # Commanded vehicle depth: 865.995515 # Seafloor depth: -953.650355 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.314112 meters # Minimum depth: 886.539491 meters looking forward 200.000000 meters along route # Maximum depth: 949.686112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.539491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384905; longitude = -122.307547; duration = 200; initialDepth = 824.071905; finalDepth = 836.539491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.65484 # Actual altitude: 87.65484 # Commanded vehicle depth: 836.539491 # Seafloor depth: -912.320626 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313997 meters # Minimum depth: 874.071905 meters looking forward 200.000000 meters along route # Maximum depth: 909.097856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.071905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.384983; longitude = -122.308661; duration = 200; initialDepth = 819.781047; finalDepth = 824.071905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7811349999999 # Actual altitude: 75.7811349999999 # Commanded vehicle depth: 824.071905 # Seafloor depth: -884.695151 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313882 meters # Minimum depth: 869.781047 meters looking forward 200.000000 meters along route # Maximum depth: 883.015509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.781047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385062; longitude = -122.309775; duration = 200; initialDepth = 814.572180; finalDepth = 819.781047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.623246 # Actual altitude: 60.623246 # Commanded vehicle depth: 819.781047 # Seafloor depth: -873.939876 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313766 meters # Minimum depth: 864.572180 meters looking forward 200.000000 meters along route # Maximum depth: 872.945275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.572180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385140; longitude = -122.310889; duration = 200; initialDepth = 810.578925; finalDepth = 814.572180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8224279999999 # Actual altitude: 55.8224279999999 # Commanded vehicle depth: 814.57218 # Seafloor depth: -870.394608 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313651 meters # Minimum depth: 860.578925 meters looking forward 200.000000 meters along route # Maximum depth: 870.529645 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.578925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385219; longitude = -122.312003; duration = 200; initialDepth = 810.578925; finalDepth = 810.578925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8224279999999 # Actual altitude: 55.8224279999999 # Commanded vehicle depth: 810.578925 # Seafloor depth: -863.891633 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313536 meters # Minimum depth: 860.578925 meters looking forward 200.000000 meters along route # Maximum depth: 871.234256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.578925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385297; longitude = -122.313118; duration = 200; initialDepth = 817.617790; finalDepth = 810.578925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4021279999999 # Actual altitude: 57.4021279999999 # Commanded vehicle depth: 810.578925 # Seafloor depth: -867.981053 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313421 meters # Minimum depth: 867.617790 meters looking forward 200.000000 meters along route # Maximum depth: 888.059053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.617790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385376; longitude = -122.314232; duration = 200; initialDepth = 821.039811; finalDepth = 817.617790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4021279999999 # Actual altitude: 57.4021279999999 # Commanded vehicle depth: 817.61779 # Seafloor depth: -871.100559 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313305 meters # Minimum depth: 871.039811 meters looking forward 200.000000 meters along route # Maximum depth: 912.683197 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.039811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385454; longitude = -122.315346; duration = 200; initialDepth = 843.316429; finalDepth = 821.039811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.673794 # Actual altitude: 69.673794 # Commanded vehicle depth: 821.039811 # Seafloor depth: -890.713605 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313190 meters # Minimum depth: 893.316429 meters looking forward 200.000000 meters along route # Maximum depth: 927.591999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.316429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385533; longitude = -122.316460; duration = 200; initialDepth = 865.632623; finalDepth = 843.316429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8442210000001 # Actual altitude: 70.8442210000001 # Commanded vehicle depth: 843.316429 # Seafloor depth: -914.160650 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.313075 meters # Minimum depth: 915.632623 meters looking forward 200.000000 meters along route # Maximum depth: 943.507782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.632623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385611; longitude = -122.317574; duration = 200; initialDepth = 881.905717; finalDepth = 865.632623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.8442210000001 # Actual altitude: 70.8442210000001 # Commanded vehicle depth: 865.632623 # Seafloor depth: -928.876137 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312960 meters # Minimum depth: 931.905717 meters looking forward 200.000000 meters along route # Maximum depth: 974.597279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.905717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385690; longitude = -122.318689; duration = 200; initialDepth = 897.511911; finalDepth = 881.905717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.625976 # Actual altitude: 63.625976 # Commanded vehicle depth: 881.905717 # Seafloor depth: -945.531693 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312845 meters # Minimum depth: 947.511911 meters looking forward 200.000000 meters along route # Maximum depth: 982.449532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.511911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385768; longitude = -122.319803; duration = 200; initialDepth = 927.512699; finalDepth = 897.511911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6113019999999 # Actual altitude: 78.6113019999999 # Commanded vehicle depth: 897.511911 # Seafloor depth: -976.123213 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312729 meters # Minimum depth: 977.512699 meters looking forward 200.000000 meters along route # Maximum depth: 984.800607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.512699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385847; longitude = -122.320917; duration = 200; initialDepth = 933.277833; finalDepth = 927.512699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.6113019999999 # Actual altitude: 78.6113019999999 # Commanded vehicle depth: 927.512699 # Seafloor depth: -982.622372 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312615 meters # Minimum depth: 983.277833 meters looking forward 200.000000 meters along route # Maximum depth: 987.663730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 933.277833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385925; longitude = -122.322031; duration = 200; initialDepth = 934.110103; finalDepth = 933.277833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.109673 # Actual altitude: 55.109673 # Commanded vehicle depth: 933.277833 # Seafloor depth: -985.079260 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312499 meters # Minimum depth: 984.110103 meters looking forward 200.000000 meters along route # Maximum depth: 990.064822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.110103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386004; longitude = -122.323145; duration = 200; initialDepth = 936.533629; finalDepth = 934.110103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.376115 # Actual altitude: 53.376115 # Commanded vehicle depth: 934.110103 # Seafloor depth: -987.486218 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312384 meters # Minimum depth: 986.533629 meters looking forward 200.000000 meters along route # Maximum depth: 994.413929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.533629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386082; longitude = -122.324260; duration = 200; initialDepth = 940.347007; finalDepth = 936.533629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8615209999999 # Actual altitude: 53.8615209999999 # Commanded vehicle depth: 936.533629 # Seafloor depth: -990.395150 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312270 meters # Minimum depth: 990.347007 meters looking forward 200.000000 meters along route # Maximum depth: 1013.525687 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.347007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386161; longitude = -122.325374; duration = 200; initialDepth = 943.702355; finalDepth = 940.347007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8615209999999 # Actual altitude: 53.8615209999999 # Commanded vehicle depth: 940.347007 # Seafloor depth: -993.322277 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312154 meters # Minimum depth: 993.702355 meters looking forward 200.000000 meters along route # Maximum depth: 1016.202062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.702355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386239; longitude = -122.326488; duration = 200; initialDepth = 963.746559; finalDepth = 943.702355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.535401 # Actual altitude: 69.535401 # Commanded vehicle depth: 943.702355 # Seafloor depth: -1013.237756 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.312039 meters # Minimum depth: 1013.746559 meters looking forward 200.000000 meters along route # Maximum depth: 1020.076303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 963.746559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386318; longitude = -122.327602; duration = 200; initialDepth = 966.485089; finalDepth = 963.746559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.535401 # Actual altitude: 69.535401 # Commanded vehicle depth: 963.746559 # Seafloor depth: -1016.104653 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311925 meters # Minimum depth: 1016.485089 meters looking forward 200.000000 meters along route # Maximum depth: 1029.028527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.485089 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386396; longitude = -122.328717; duration = 200; initialDepth = 970.205372; finalDepth = 966.485089; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.884008 # Actual altitude: 52.884008 # Commanded vehicle depth: 966.485089 # Seafloor depth: -1019.369097 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311809 meters # Minimum depth: 1020.205372 meters looking forward 200.000000 meters along route # Maximum depth: 1036.009129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.205372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386475; longitude = -122.329831; duration = 200; initialDepth = 980.586583; finalDepth = 970.205372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.416321 # Actual altitude: 59.416321 # Commanded vehicle depth: 970.205372 # Seafloor depth: -1029.621693 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311695 meters # Minimum depth: 1030.586583 meters looking forward 200.000000 meters along route # Maximum depth: 1044.371190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.586583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386553; longitude = -122.330945; duration = 200; initialDepth = 987.749629; finalDepth = 980.586583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.416321 # Actual altitude: 59.416321 # Commanded vehicle depth: 980.586583 # Seafloor depth: -1036.996180 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311580 meters # Minimum depth: 1037.749629 meters looking forward 200.000000 meters along route # Maximum depth: 1059.817869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.749629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386632; longitude = -122.332059; duration = 200; initialDepth = 996.971154; finalDepth = 987.749629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.773672 # Actual altitude: 57.773672 # Commanded vehicle depth: 987.749629 # Seafloor depth: -1045.523301 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311465 meters # Minimum depth: 1046.971154 meters looking forward 200.000000 meters along route # Maximum depth: 1070.100415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.971154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386710; longitude = -122.333173; duration = 200; initialDepth = 1012.321288; finalDepth = 996.971154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1200269999999 # Actual altitude: 64.1200269999999 # Commanded vehicle depth: 996.971154 # Seafloor depth: -1061.091181 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311350 meters # Minimum depth: 1062.321288 meters looking forward 200.000000 meters along route # Maximum depth: 1083.262224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.321288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386789; longitude = -122.334288; duration = 200; initialDepth = 1023.437562; finalDepth = 1012.321288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.1200269999999 # Actual altitude: 64.1200269999999 # Commanded vehicle depth: 1012.321288 # Seafloor depth: -1071.870320 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311235 meters # Minimum depth: 1073.437562 meters looking forward 200.000000 meters along route # Maximum depth: 1090.176447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.437562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386867; longitude = -122.335402; duration = 200; initialDepth = 1033.021070; finalDepth = 1023.437562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5490319999999 # Actual altitude: 59.5490319999999 # Commanded vehicle depth: 1023.437562 # Seafloor depth: -1082.811334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311121 meters # Minimum depth: 1083.021070 meters looking forward 200.000000 meters along route # Maximum depth: 1096.523436 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.021070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386945; longitude = -122.336516; duration = 200; initialDepth = 1040.298446; finalDepth = 1033.021070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3737719999999 # Actual altitude: 59.3737719999999 # Commanded vehicle depth: 1033.02107 # Seafloor depth: -1090.182985 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.311006 meters # Minimum depth: 1090.298446 meters looking forward 200.000000 meters along route # Maximum depth: 1102.278983 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1040.298446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387024; longitude = -122.337630; duration = 200; initialDepth = 1046.967391; finalDepth = 1040.298446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5809569999999 # Actual altitude: 57.5809569999999 # Commanded vehicle depth: 1040.298446 # Seafloor depth: -1097.879403 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.654585 meters # Minimum depth: 1096.967391 meters looking forward 200.000000 meters along route # Maximum depth: 1102.563791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.967391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387102; longitude = -122.338744; duration = 207; initialDepth = 1051.835188; finalDepth = 1046.967391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.5809569999999 # Actual altitude: 57.5809569999999 # Commanded vehicle depth: 1046.967391 # Seafloor depth: -1101.784348 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 151.141939 meters # Minimum depth: 1101.835188 meters looking forward 200.000000 meters along route # Maximum depth: 1109.892578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.835188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387184; longitude = -122.339896; duration = 302; # abortOnTimeout = True; initialDepth = 1057.158335; finalDepth = 1051.835188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.816957 # Actual altitude: 54.816957 # Commanded vehicle depth: 1051.835188 # Seafloor depth: -1102.759603 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 27 # Segment length 127.056465 meters # Minimum depth: 1107.158335 meters looking forward 200.000000 meters along route # Maximum depth: 1110.422072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1057.158335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388505; longitude = -122.339487; duration = 254; # abortOnTimeout = True; initialDepth = 1055.486233; finalDepth = 1057.158335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9302069999999 # Actual altitude: 52.9302069999999 # Commanded vehicle depth: 1057.158335 # Seafloor depth: -1110.088542 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 100.307865 meters # Minimum depth: 1105.486233 meters looking forward 200.000000 meters along route # Maximum depth: 1110.422072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1055.486233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388406; longitude = -122.338076; duration = 200; initialDepth = 1050.038551; finalDepth = 1055.486233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9302069999999 # Actual altitude: 52.9302069999999 # Commanded vehicle depth: 1055.486233 # Seafloor depth: -1107.527973 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.307981 meters # Minimum depth: 1100.038551 meters looking forward 200.000000 meters along route # Maximum depth: 1106.753826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.038551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388328; longitude = -122.336962; duration = 200; initialDepth = 1041.970244; finalDepth = 1050.038551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.079573 # Actual altitude: 55.079573 # Commanded vehicle depth: 1050.038551 # Seafloor depth: -1105.118124 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308094 meters # Minimum depth: 1091.970244 meters looking forward 200.000000 meters along route # Maximum depth: 1104.782232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.970244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388250; longitude = -122.335847; duration = 200; initialDepth = 1032.633334; finalDepth = 1041.970244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.887716 # Actual altitude: 57.887716 # Commanded vehicle depth: 1041.970244 # Seafloor depth: -1099.857960 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308209 meters # Minimum depth: 1082.633334 meters looking forward 200.000000 meters along route # Maximum depth: 1099.412739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1032.633334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388171; longitude = -122.334733; duration = 200; initialDepth = 1018.537902; finalDepth = 1032.633334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.10988 # Actual altitude: 58.10988 # Commanded vehicle depth: 1032.633334 # Seafloor depth: -1090.743214 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308324 meters # Minimum depth: 1068.537902 meters looking forward 200.000000 meters along route # Maximum depth: 1089.544631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.537902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388093; longitude = -122.333619; duration = 200; initialDepth = 1003.061272; finalDepth = 1018.537902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.326474 # Actual altitude: 62.326474 # Commanded vehicle depth: 1018.537902 # Seafloor depth: -1080.864376 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308439 meters # Minimum depth: 1053.061272 meters looking forward 200.000000 meters along route # Maximum depth: 1078.672777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.061272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388015; longitude = -122.332505; duration = 200; initialDepth = 993.309468; finalDepth = 1003.061272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.7472280000002 # Actual altitude: 64.7472280000002 # Commanded vehicle depth: 1003.061272 # Seafloor depth: -1067.808500 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308553 meters # Minimum depth: 1043.309468 meters looking forward 200.000000 meters along route # Maximum depth: 1066.131992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.309468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387936; longitude = -122.331391; duration = 200; initialDepth = 983.209600; finalDepth = 993.309468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.7472280000002 # Actual altitude: 64.7472280000002 # Commanded vehicle depth: 993.309468 # Seafloor depth: -1052.200918 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308668 meters # Minimum depth: 1033.209600 meters looking forward 200.000000 meters along route # Maximum depth: 1051.991604 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.209600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387858; longitude = -122.330276; duration = 200; initialDepth = 978.971563; finalDepth = 983.209600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.108005 # Actual altitude: 59.108005 # Commanded vehicle depth: 983.2096 # Seafloor depth: -1042.317605 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308783 meters # Minimum depth: 1028.971563 meters looking forward 200.000000 meters along route # Maximum depth: 1040.889690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.971563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387780; longitude = -122.329162; duration = 200; initialDepth = 974.267704; finalDepth = 978.971563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.108005 # Actual altitude: 59.108005 # Commanded vehicle depth: 978.971563 # Seafloor depth: -1032.976607 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.308897 meters # Minimum depth: 1024.267704 meters looking forward 200.000000 meters along route # Maximum depth: 1032.772571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.267704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387701; longitude = -122.328048; duration = 200; initialDepth = 968.162710; finalDepth = 974.267704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.005044 # Actual altitude: 54.005044 # Commanded vehicle depth: 974.267704 # Seafloor depth: -1027.360825 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309012 meters # Minimum depth: 1018.162710 meters looking forward 200.000000 meters along route # Maximum depth: 1026.325374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.162710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387623; longitude = -122.326934; duration = 200; initialDepth = 947.393161; finalDepth = 968.162710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3531840000001 # Actual altitude: 55.3531840000001 # Commanded vehicle depth: 968.16271 # Seafloor depth: -1023.515894 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309127 meters # Minimum depth: 997.393161 meters looking forward 200.000000 meters along route # Maximum depth: 1022.669832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.393161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387545; longitude = -122.325820; duration = 200; initialDepth = 945.053035; finalDepth = 947.393161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1854010000001 # Actual altitude: 69.1854010000001 # Commanded vehicle depth: 947.393161 # Seafloor depth: -1016.578562 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309242 meters # Minimum depth: 995.053035 meters looking forward 200.000000 meters along route # Maximum depth: 1015.065358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.053035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387466; longitude = -122.324705; duration = 200; initialDepth = 942.235080; finalDepth = 945.053035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1854010000001 # Actual altitude: 69.1854010000001 # Commanded vehicle depth: 945.053035 # Seafloor depth: -998.380338 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309357 meters # Minimum depth: 992.235080 meters looking forward 200.000000 meters along route # Maximum depth: 997.957055 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.235080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387388; longitude = -122.323591; duration = 200; initialDepth = 939.253879; finalDepth = 942.235080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.327303 # Actual altitude: 53.327303 # Commanded vehicle depth: 942.23508 # Seafloor depth: -995.443328 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309471 meters # Minimum depth: 989.253879 meters looking forward 200.000000 meters along route # Maximum depth: 994.928862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.253879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387310; longitude = -122.322477; duration = 200; initialDepth = 932.509158; finalDepth = 939.253879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2082479999999 # Actual altitude: 53.2082479999999 # Commanded vehicle depth: 939.253879 # Seafloor depth: -991.876261 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309587 meters # Minimum depth: 982.509158 meters looking forward 200.000000 meters along route # Maximum depth: 991.420156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.509158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387231; longitude = -122.321363; duration = 200; initialDepth = 921.849552; finalDepth = 932.509158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.845983 # Actual altitude: 57.845983 # Commanded vehicle depth: 932.509158 # Seafloor depth: -990.355141 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309701 meters # Minimum depth: 971.849552 meters looking forward 200.000000 meters along route # Maximum depth: 988.906933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 921.849552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387153; longitude = -122.320249; duration = 200; initialDepth = 906.516820; finalDepth = 921.849552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.3860589999999 # Actual altitude: 60.3860589999999 # Commanded vehicle depth: 921.849552 # Seafloor depth: -982.235611 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309817 meters # Minimum depth: 956.516820 meters looking forward 200.000000 meters along route # Maximum depth: 981.893544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.516820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387075; longitude = -122.319134; duration = 200; initialDepth = 885.077844; finalDepth = 906.516820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.018783 # Actual altitude: 63.018783 # Commanded vehicle depth: 906.51682 # Seafloor depth: -969.535603 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.309931 meters # Minimum depth: 935.077844 meters looking forward 200.000000 meters along route # Maximum depth: 968.526720 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.077844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386996; longitude = -122.318020; duration = 200; initialDepth = 868.363422; finalDepth = 885.077844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.066511 # Actual altitude: 66.066511 # Commanded vehicle depth: 885.077844 # Seafloor depth: -951.144355 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310046 meters # Minimum depth: 918.363422 meters looking forward 200.000000 meters along route # Maximum depth: 948.580735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.363422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386918; longitude = -122.316906; duration = 200; initialDepth = 856.183149; finalDepth = 868.363422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.066511 # Actual altitude: 66.066511 # Commanded vehicle depth: 868.363422 # Seafloor depth: -933.701174 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310162 meters # Minimum depth: 906.183149 meters looking forward 200.000000 meters along route # Maximum depth: 932.466917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.183149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386840; longitude = -122.315792; duration = 200; initialDepth = 843.985413; finalDepth = 856.183149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.337752 # Actual altitude: 65.337752 # Commanded vehicle depth: 856.183149 # Seafloor depth: -916.636466 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310276 meters # Minimum depth: 893.985413 meters looking forward 200.000000 meters along route # Maximum depth: 916.869369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.985413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386761; longitude = -122.314677; duration = 200; initialDepth = 835.699728; finalDepth = 843.985413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.409114 # Actual altitude: 62.409114 # Commanded vehicle depth: 843.985413 # Seafloor depth: -906.394527 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310392 meters # Minimum depth: 885.699728 meters looking forward 200.000000 meters along route # Maximum depth: 902.138684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.699728 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386683; longitude = -122.313563; duration = 200; initialDepth = 819.067081; finalDepth = 835.699728; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.409114 # Actual altitude: 62.409114 # Commanded vehicle depth: 835.699728 # Seafloor depth: -894.567971 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310506 meters # Minimum depth: 869.067081 meters looking forward 200.000000 meters along route # Maximum depth: 893.211861 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.067081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386605; longitude = -122.312449; duration = 200; initialDepth = 801.678574; finalDepth = 819.067081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1370089999999 # Actual altitude: 67.1370089999999 # Commanded vehicle depth: 819.067081 # Seafloor depth: -886.204090 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310622 meters # Minimum depth: 851.678574 meters looking forward 200.000000 meters along route # Maximum depth: 882.515847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 801.678574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386526; longitude = -122.311335; duration = 200; initialDepth = 789.163615; finalDepth = 801.678574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1370089999999 # Actual altitude: 67.1370089999999 # Commanded vehicle depth: 801.678574 # Seafloor depth: -865.428522 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310737 meters # Minimum depth: 839.163615 meters looking forward 200.000000 meters along route # Maximum depth: 863.268250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 789.163615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386448; longitude = -122.310221; duration = 200; initialDepth = 786.208899; finalDepth = 789.163615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.749948 # Actual altitude: 63.749948 # Commanded vehicle depth: 789.163615 # Seafloor depth: -850.482203 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310852 meters # Minimum depth: 836.208899 meters looking forward 200.000000 meters along route # Maximum depth: 849.314376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.208899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386370; longitude = -122.309106; duration = 200; initialDepth = 786.208899; finalDepth = 786.208899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.318588 # Actual altitude: 61.318588 # Commanded vehicle depth: 786.208899 # Seafloor depth: -836.655247 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.310967 meters # Minimum depth: 836.208899 meters looking forward 200.000000 meters along route # Maximum depth: 871.205735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.208899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386291; longitude = -122.307992; duration = 200; initialDepth = 796.909733; finalDepth = 786.208899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0123580000001 # Actual altitude: 59.0123580000001 # Commanded vehicle depth: 786.208899 # Seafloor depth: -845.221257 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311083 meters # Minimum depth: 846.909733 meters looking forward 200.000000 meters along route # Maximum depth: 912.412669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 796.909733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386213; longitude = -122.306878; duration = 200; initialDepth = 827.959522; finalDepth = 796.909733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.197141 # Actual altitude: 77.197141 # Commanded vehicle depth: 796.909733 # Seafloor depth: -874.106874 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311198 meters # Minimum depth: 877.959522 meters looking forward 200.000000 meters along route # Maximum depth: 1015.421395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.959522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386135; longitude = -122.305764; duration = 200; initialDepth = 874.337434; finalDepth = 827.959522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.7727170000001 # Actual altitude: 92.7727170000001 # Commanded vehicle depth: 827.959522 # Seafloor depth: -920.732239 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311313 meters # Minimum depth: 924.337434 meters looking forward 200.000000 meters along route # Maximum depth: 1071.444208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.337434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386056; longitude = -122.304650; duration = 200; initialDepth = 947.217867; finalDepth = 874.337434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 150.278585 # Actual altitude: 100 # Commanded vehicle depth: 874.337434 # Seafloor depth: -1024.616019 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311428 meters # Minimum depth: 1032.375466 meters looking forward 200.000000 meters along route # Maximum depth: 1094.851591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.217867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385978; longitude = -122.303535; duration = 200; initialDepth = 1020.098384; finalDepth = 947.217867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 150.278585 # Actual altitude: 100 # Commanded vehicle depth: 947.2178672919 # Seafloor depth: -1075.668034 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311544 meters # Minimum depth: 1077.727835 meters looking forward 200.000000 meters along route # Maximum depth: 1111.556246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.098384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385900; longitude = -122.302421; duration = 200; initialDepth = 1047.970057; finalDepth = 1020.098384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 128.4501667081 # Actual altitude: 100 # Commanded vehicle depth: 1020.09838413619 # Seafloor depth: -1096.471576 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311659 meters # Minimum depth: 1097.970057 meters looking forward 200.000000 meters along route # Maximum depth: 1129.580271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.970057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385821; longitude = -122.301307; duration = 200; initialDepth = 1062.496667; finalDepth = 1047.970057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.3731918638101 # Actual altitude: 76.3731918638101 # Commanded vehicle depth: 1047.970057 # Seafloor depth: -1111.588438 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311774 meters # Minimum depth: 1112.496667 meters looking forward 200.000000 meters along route # Maximum depth: 1167.173677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1062.496667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385743; longitude = -122.300193; duration = 200; initialDepth = 1085.991306; finalDepth = 1062.496667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6047420000002 # Actual altitude: 69.6047420000002 # Commanded vehicle depth: 1062.496667 # Seafloor depth: -1132.101409 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.311890 meters # Minimum depth: 1135.991306 meters looking forward 200.000000 meters along route # Maximum depth: 1192.229352 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1085.991306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385665; longitude = -122.299079; duration = 200; initialDepth = 1120.907582; finalDepth = 1085.991306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.146917 # Actual altitude: 83.146917 # Commanded vehicle depth: 1085.991306 # Seafloor depth: -1169.138223 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.312005 meters # Minimum depth: 1170.907582 meters looking forward 200.000000 meters along route # Maximum depth: 1214.576600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1120.907582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385586; longitude = -122.297964; duration = 200; initialDepth = 1145.754022; finalDepth = 1120.907582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.146917 # Actual altitude: 83.146917 # Commanded vehicle depth: 1120.907582 # Seafloor depth: -1193.874863 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.312121 meters # Minimum depth: 1195.754022 meters looking forward 200.000000 meters along route # Maximum depth: 1239.206812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.754022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385508; longitude = -122.296850; duration = 200; initialDepth = 1171.252905; finalDepth = 1145.754022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.967281 # Actual altitude: 72.967281 # Commanded vehicle depth: 1145.754022 # Seafloor depth: -1217.767071 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.312236 meters # Minimum depth: 1221.252905 meters looking forward 200.000000 meters along route # Maximum depth: 1252.583055 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.252905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385430; longitude = -122.295736; duration = 200; initialDepth = 1190.210890; finalDepth = 1171.252905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.0130489999999 # Actual altitude: 72.0130489999999 # Commanded vehicle depth: 1171.252905 # Seafloor depth: -1239.173283 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.312351 meters # Minimum depth: 1240.210890 meters looking forward 200.000000 meters along route # Maximum depth: 1267.453387 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.210890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385351; longitude = -122.294622; duration = 200; initialDepth = 1206.065168; finalDepth = 1190.210890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.920378 # Actual altitude: 67.920378 # Commanded vehicle depth: 1190.21089 # Seafloor depth: -1255.163215 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.312468 meters # Minimum depth: 1256.065168 meters looking forward 200.000000 meters along route # Maximum depth: 1277.614384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.065168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385273; longitude = -122.293508; duration = 200; initialDepth = 1219.001823; finalDepth = 1206.065168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.952325 # Actual altitude: 64.952325 # Commanded vehicle depth: 1206.065168 # Seafloor depth: -1267.983606 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 106.982185 meters # Minimum depth: 1269.001823 meters looking forward 200.000000 meters along route # Maximum depth: 1285.980763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.001823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385195; longitude = -122.292393; duration = 213; initialDepth = 1232.386851; finalDepth = 1219.001823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.9184379999999 # Actual altitude: 61.9184379999999 # Commanded vehicle depth: 1219.001823 # Seafloor depth: -1278.832946 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 147.481544 meters # Minimum depth: 1282.386851 meters looking forward 200.000000 meters along route # Maximum depth: 1287.197990 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1232.386851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.385111; longitude = -122.291205; duration = 294; # abortOnTimeout = True; initialDepth = 1225.555922; finalDepth = 1232.386851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.8311229999999 # Actual altitude: 59.8311229999999 # Commanded vehicle depth: 1232.386851 # Seafloor depth: -1286.550568 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 103.661644 meters # Minimum depth: 1275.555922 meters looking forward 200.000000 meters along route # Maximum depth: 1285.497067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1225.555922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386432; longitude = -122.291019; duration = 207; # abortOnTimeout = True; initialDepth = 1217.283429; finalDepth = 1225.555922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3444380000001 # Actual altitude: 58.3444380000001 # Commanded vehicle depth: 1225.555922 # Seafloor depth: -1283.900360 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.308944 meters # Minimum depth: 1267.283429 meters looking forward 200.000000 meters along route # Maximum depth: 1282.101742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.283429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386513; longitude = -122.292170; duration = 200; initialDepth = 1202.853754; finalDepth = 1217.283429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3444380000001 # Actual altitude: 58.3444380000001 # Commanded vehicle depth: 1217.283429 # Seafloor depth: -1275.140298 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308829 meters # Minimum depth: 1252.853754 meters looking forward 200.000000 meters along route # Maximum depth: 1274.494868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1202.853754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386591; longitude = -122.293285; duration = 200; initialDepth = 1188.279857; finalDepth = 1202.853754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.387837 # Actual altitude: 63.387837 # Commanded vehicle depth: 1202.853754 # Seafloor depth: -1266.241591 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308714 meters # Minimum depth: 1238.279857 meters looking forward 200.000000 meters along route # Maximum depth: 1264.149887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.279857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386669; longitude = -122.294399; duration = 200; initialDepth = 1166.183309; finalDepth = 1188.279857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.387837 # Actual altitude: 63.387837 # Commanded vehicle depth: 1188.279857 # Seafloor depth: -1251.476552 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308599 meters # Minimum depth: 1216.183309 meters looking forward 200.000000 meters along route # Maximum depth: 1250.818527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.183309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386747; longitude = -122.295513; duration = 200; initialDepth = 1141.727496; finalDepth = 1166.183309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.9229290000001 # Actual altitude: 68.9229290000001 # Commanded vehicle depth: 1166.183309 # Seafloor depth: -1235.106238 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308483 meters # Minimum depth: 1191.727496 meters looking forward 200.000000 meters along route # Maximum depth: 1232.113729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1141.727496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386825; longitude = -122.296627; duration = 200; initialDepth = 1113.179102; finalDepth = 1141.727496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.735856 # Actual altitude: 71.735856 # Commanded vehicle depth: 1141.727496 # Seafloor depth: -1213.463352 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308368 meters # Minimum depth: 1163.179102 meters looking forward 200.000000 meters along route # Maximum depth: 1210.907911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1113.179102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386903; longitude = -122.297742; duration = 200; initialDepth = 1086.887715; finalDepth = 1113.179102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4459469999999 # Actual altitude: 75.4459469999999 # Commanded vehicle depth: 1113.179102 # Seafloor depth: -1188.625049 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308253 meters # Minimum depth: 1136.887715 meters looking forward 200.000000 meters along route # Maximum depth: 1186.030750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1086.887715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.386982; longitude = -122.298856; duration = 200; initialDepth = 1074.501644; finalDepth = 1086.887715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.4459469999999 # Actual altitude: 75.4459469999999 # Commanded vehicle depth: 1086.887715 # Seafloor depth: -1158.885303 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308138 meters # Minimum depth: 1124.501644 meters looking forward 200.000000 meters along route # Maximum depth: 1154.026408 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1074.501644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387060; longitude = -122.299970; duration = 200; initialDepth = 1043.800548; finalDepth = 1074.501644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.997588 # Actual altitude: 71.997588 # Commanded vehicle depth: 1074.501644 # Seafloor depth: -1134.262720 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.308023 meters # Minimum depth: 1093.800548 meters looking forward 200.000000 meters along route # Maximum depth: 1132.681464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1043.800548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387138; longitude = -122.301084; duration = 200; initialDepth = 999.398935; finalDepth = 1043.800548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.9428520000001 # Actual altitude: 78.9428520000001 # Commanded vehicle depth: 1043.800548 # Seafloor depth: -1122.743400 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307908 meters # Minimum depth: 1049.398935 meters looking forward 200.000000 meters along route # Maximum depth: 1121.129034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.398935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387216; longitude = -122.302198; duration = 200; initialDepth = 943.105763; finalDepth = 999.398935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.1957160000002 # Actual altitude: 93.1957160000002 # Commanded vehicle depth: 999.398935 # Seafloor depth: -1092.594651 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307792 meters # Minimum depth: 993.105763 meters looking forward 200.000000 meters along route # Maximum depth: 1089.291391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.105763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387294; longitude = -122.303313; duration = 200; initialDepth = 872.073173; finalDepth = 943.105763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.190101 # Actual altitude: 100 # Commanded vehicle depth: 943.105763 # Seafloor depth: -1046.295864 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307678 meters # Minimum depth: 922.073173 meters looking forward 200.000000 meters along route # Maximum depth: 1036.082652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.073173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387372; longitude = -122.304427; duration = 200; initialDepth = 804.095262; finalDepth = 872.073173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.120587 # Actual altitude: 100 # Commanded vehicle depth: 872.073173 # Seafloor depth: -988.193760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307562 meters # Minimum depth: 854.095262 meters looking forward 200.000000 meters along route # Maximum depth: 977.438093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 804.095262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387450; longitude = -122.305541; duration = 200; initialDepth = 781.082713; finalDepth = 804.095262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 116.120587 # Actual altitude: 100 # Commanded vehicle depth: 804.095262 # Seafloor depth: -909.151952 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307448 meters # Minimum depth: 831.082713 meters looking forward 200.000000 meters along route # Maximum depth: 901.607050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.082713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387529; longitude = -122.306655; duration = 200; initialDepth = 779.335354; finalDepth = 781.082713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.05669 # Actual altitude: 100 # Commanded vehicle depth: 781.082713 # Seafloor depth: -852.396004 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307332 meters # Minimum depth: 829.335354 meters looking forward 200.000000 meters along route # Maximum depth: 849.052259 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.335354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387607; longitude = -122.307769; duration = 200; initialDepth = 779.335354; finalDepth = 779.335354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3132909999999 # Actual altitude: 71.3132909999999 # Commanded vehicle depth: 779.335354 # Seafloor depth: -830.593338 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307218 meters # Minimum depth: 829.335354 meters looking forward 200.000000 meters along route # Maximum depth: 841.757427 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.335354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387685; longitude = -122.308884; duration = 200; initialDepth = 782.366405; finalDepth = 779.335354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.451067 # Actual altitude: 52.451067 # Commanded vehicle depth: 779.335354 # Seafloor depth: -831.786421 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.307103 meters # Minimum depth: 832.366405 meters looking forward 200.000000 meters along route # Maximum depth: 863.305725 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.366405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387763; longitude = -122.309998; duration = 200; initialDepth = 795.567907; finalDepth = 782.366405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.237913 # Actual altitude: 61.237913 # Commanded vehicle depth: 782.366405 # Seafloor depth: -843.604318 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306988 meters # Minimum depth: 845.567907 meters looking forward 200.000000 meters along route # Maximum depth: 883.191191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.567907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387841; longitude = -122.311112; duration = 200; initialDepth = 816.076960; finalDepth = 795.567907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6263740000001 # Actual altitude: 69.6263740000001 # Commanded vehicle depth: 795.567907 # Seafloor depth: -865.194281 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306873 meters # Minimum depth: 866.076960 meters looking forward 200.000000 meters along route # Maximum depth: 901.756051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.076960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387919; longitude = -122.312226; duration = 200; initialDepth = 838.394081; finalDepth = 816.076960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6263740000001 # Actual altitude: 69.6263740000001 # Commanded vehicle depth: 816.07696 # Seafloor depth: -883.990818 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306758 meters # Minimum depth: 888.394081 meters looking forward 200.000000 meters along route # Maximum depth: 912.274061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.394081 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387997; longitude = -122.313340; duration = 200; initialDepth = 853.537097; finalDepth = 838.394081; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.913858 # Actual altitude: 67.913858 # Commanded vehicle depth: 838.394081 # Seafloor depth: -902.455958 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306643 meters # Minimum depth: 903.537097 meters looking forward 200.000000 meters along route # Maximum depth: 925.634060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.537097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388076; longitude = -122.314455; duration = 200; initialDepth = 863.059628; finalDepth = 853.537097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.061877 # Actual altitude: 64.061877 # Commanded vehicle depth: 853.537097 # Seafloor depth: -911.116979 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306529 meters # Minimum depth: 913.059628 meters looking forward 200.000000 meters along route # Maximum depth: 943.240363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.059628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388154; longitude = -122.315569; duration = 200; initialDepth = 878.288033; finalDepth = 863.059628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6327700000001 # Actual altitude: 63.6327700000001 # Commanded vehicle depth: 863.059628 # Seafloor depth: -926.692398 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306413 meters # Minimum depth: 928.288033 meters looking forward 200.000000 meters along route # Maximum depth: 962.617190 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.288033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388232; longitude = -122.316683; duration = 200; initialDepth = 898.367871; finalDepth = 878.288033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.785707 # Actual altitude: 67.785707 # Commanded vehicle depth: 878.288033 # Seafloor depth: -946.073740 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306299 meters # Minimum depth: 948.367871 meters looking forward 200.000000 meters along route # Maximum depth: 969.334482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.367871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388310; longitude = -122.317797; duration = 200; initialDepth = 911.696448; finalDepth = 898.367871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.785707 # Actual altitude: 67.785707 # Commanded vehicle depth: 898.367871 # Seafloor depth: -963.008420 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306185 meters # Minimum depth: 961.696448 meters looking forward 200.000000 meters along route # Maximum depth: 980.017703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.696448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388388; longitude = -122.318911; duration = 200; initialDepth = 922.109870; finalDepth = 911.696448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.640549 # Actual altitude: 64.640549 # Commanded vehicle depth: 911.696448 # Seafloor depth: -970.151544 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.306069 meters # Minimum depth: 972.109870 meters looking forward 200.000000 meters along route # Maximum depth: 992.405930 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.109870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388466; longitude = -122.320026; duration = 200; initialDepth = 932.446104; finalDepth = 922.109870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.187609 # Actual altitude: 59.187609 # Commanded vehicle depth: 922.10987 # Seafloor depth: -981.297479 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305955 meters # Minimum depth: 982.446104 meters looking forward 200.000000 meters along route # Maximum depth: 996.407552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.446104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388544; longitude = -122.321140; duration = 200; initialDepth = 942.767253; finalDepth = 932.446104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.302059 # Actual altitude: 60.302059 # Commanded vehicle depth: 932.446104 # Seafloor depth: -992.748163 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305840 meters # Minimum depth: 992.767253 meters looking forward 200.000000 meters along route # Maximum depth: 1002.953993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.767253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388623; longitude = -122.322254; duration = 200; initialDepth = 947.957548; finalDepth = 942.767253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.302059 # Actual altitude: 60.302059 # Commanded vehicle depth: 942.767253 # Seafloor depth: -997.186519 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305726 meters # Minimum depth: 997.957548 meters looking forward 200.000000 meters along route # Maximum depth: 1008.164575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.957548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388701; longitude = -122.323368; duration = 200; initialDepth = 954.779018; finalDepth = 947.957548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.845143 # Actual altitude: 55.845143 # Commanded vehicle depth: 947.957548 # Seafloor depth: -1003.802691 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305611 meters # Minimum depth: 1004.779018 meters looking forward 200.000000 meters along route # Maximum depth: 1021.130968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 954.779018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388779; longitude = -122.324483; duration = 200; initialDepth = 958.626324; finalDepth = 954.779018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.845143 # Actual altitude: 55.845143 # Commanded vehicle depth: 954.779018 # Seafloor depth: -1008.293602 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305497 meters # Minimum depth: 1008.626324 meters looking forward 200.000000 meters along route # Maximum depth: 1026.371204 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.626324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388857; longitude = -122.325597; duration = 200; initialDepth = 973.631333; finalDepth = 958.626324; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6471600000001 # Actual altitude: 63.6471600000001 # Commanded vehicle depth: 958.626324 # Seafloor depth: -1022.273484 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305382 meters # Minimum depth: 1023.631333 meters looking forward 200.000000 meters along route # Maximum depth: 1031.596700 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.631333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388935; longitude = -122.326711; duration = 200; initialDepth = 976.617186; finalDepth = 973.631333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.6471600000001 # Actual altitude: 63.6471600000001 # Commanded vehicle depth: 973.631333 # Seafloor depth: -1026.483287 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305267 meters # Minimum depth: 1026.617186 meters looking forward 200.000000 meters along route # Maximum depth: 1038.564307 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.617186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389013; longitude = -122.327825; duration = 200; initialDepth = 982.503649; finalDepth = 976.617186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5753870000001 # Actual altitude: 55.5753870000001 # Commanded vehicle depth: 976.617186 # Seafloor depth: -1032.192573 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305153 meters # Minimum depth: 1032.503649 meters looking forward 200.000000 meters along route # Maximum depth: 1047.313277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.503649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389091; longitude = -122.328939; duration = 200; initialDepth = 990.737925; finalDepth = 982.503649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1416999999999 # Actual altitude: 57.1416999999999 # Commanded vehicle depth: 982.503649 # Seafloor depth: -1039.645349 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.305038 meters # Minimum depth: 1040.737925 meters looking forward 200.000000 meters along route # Maximum depth: 1058.486630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 990.737925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389170; longitude = -122.330054; duration = 200; initialDepth = 999.413773; finalDepth = 990.737925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4341910000001 # Actual altitude: 57.4341910000001 # Commanded vehicle depth: 990.737925 # Seafloor depth: -1048.172116 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.304924 meters # Minimum depth: 1049.413773 meters looking forward 200.000000 meters along route # Maximum depth: 1074.468062 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 999.413773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389248; longitude = -122.331168; duration = 200; initialDepth = 1013.055361; finalDepth = 999.413773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6011880000001 # Actual altitude: 61.6011880000001 # Commanded vehicle depth: 999.413773 # Seafloor depth: -1061.014961 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.304810 meters # Minimum depth: 1063.055361 meters looking forward 200.000000 meters along route # Maximum depth: 1086.471122 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1013.055361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389326; longitude = -122.332282; duration = 200; initialDepth = 1024.778674; finalDepth = 1013.055361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.905976 # Actual altitude: 61.905976 # Commanded vehicle depth: 1013.055361 # Seafloor depth: -1074.961337 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.304695 meters # Minimum depth: 1074.778674 meters looking forward 200.000000 meters along route # Maximum depth: 1097.620101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1024.778674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389404; longitude = -122.333396; duration = 200; initialDepth = 1039.192254; finalDepth = 1024.778674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.237343 # Actual altitude: 63.237343 # Commanded vehicle depth: 1024.778674 # Seafloor depth: -1088.016017 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.304581 meters # Minimum depth: 1089.192254 meters looking forward 200.000000 meters along route # Maximum depth: 1108.047651 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.192254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389482; longitude = -122.334510; duration = 200; initialDepth = 1050.012457; finalDepth = 1039.192254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.237343 # Actual altitude: 63.237343 # Commanded vehicle depth: 1039.192254 # Seafloor depth: -1098.927523 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.304466 meters # Minimum depth: 1100.012457 meters looking forward 200.000000 meters along route # Maximum depth: 1114.373544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1050.012457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389560; longitude = -122.335625; duration = 200; initialDepth = 1059.137503; finalDepth = 1050.012457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.735269 # Actual altitude: 59.735269 # Commanded vehicle depth: 1050.012457 # Seafloor depth: -1108.363127 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.304353 meters # Minimum depth: 1109.137503 meters looking forward 200.000000 meters along route # Maximum depth: 1116.860232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1059.137503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389638; longitude = -122.336739; duration = 200; initialDepth = 1063.690101; finalDepth = 1059.137503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.35067 # Actual altitude: 58.35067 # Commanded vehicle depth: 1059.137503 # Seafloor depth: -1114.999512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 103.647710 meters # Minimum depth: 1113.690101 meters looking forward 200.000000 meters along route # Maximum depth: 1117.251461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1063.690101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389717; longitude = -122.337853; duration = 207; initialDepth = 1065.018992; finalDepth = 1063.690101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.8620090000002 # Actual altitude: 55.8620090000002 # Commanded vehicle depth: 1063.690101 # Seafloor depth: -1114.903162 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 161.057023 meters # Minimum depth: 1115.018992 meters looking forward 200.000000 meters along route # Maximum depth: 1124.266690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.018992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389797; longitude = -122.339004; duration = 322; # abortOnTimeout = True; initialDepth = 1071.019531; finalDepth = 1065.018992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.4875999999999 # Actual altitude: 52.4875999999999 # Commanded vehicle depth: 1065.018992 # Seafloor depth: -1117.506592 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 147.104395 meters # Minimum depth: 1121.019531 meters looking forward 200.000000 meters along route # Maximum depth: 1124.588911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.019531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391119; longitude = -122.338262; duration = 294; # abortOnTimeout = True; initialDepth = 1066.819347; finalDepth = 1071.019531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3294270000001 # Actual altitude: 53.3294270000001 # Commanded vehicle depth: 1071.019531 # Seafloor depth: -1124.348958 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 100.298591 meters # Minimum depth: 1116.819347 meters looking forward 200.000000 meters along route # Maximum depth: 1124.588911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.819347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391005; longitude = -122.336627; duration = 200; initialDepth = 1058.995528; finalDepth = 1066.819347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4815139999998 # Actual altitude: 55.4815139999998 # Commanded vehicle depth: 1066.819347 # Seafloor depth: -1122.300861 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.298705 meters # Minimum depth: 1108.995528 meters looking forward 200.000000 meters along route # Maximum depth: 1120.838923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.995528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390928; longitude = -122.335513; duration = 200; initialDepth = 1049.810674; finalDepth = 1058.995528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0679170000001 # Actual altitude: 57.0679170000001 # Commanded vehicle depth: 1058.995528 # Seafloor depth: -1116.063445 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.298819 meters # Minimum depth: 1099.810674 meters looking forward 200.000000 meters along route # Maximum depth: 1115.249012 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1049.810674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390850; longitude = -122.334399; duration = 200; initialDepth = 1036.671375; finalDepth = 1049.810674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8482759999999 # Actual altitude: 57.8482759999999 # Commanded vehicle depth: 1049.810674 # Seafloor depth: -1107.658950 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.298933 meters # Minimum depth: 1086.671375 meters looking forward 200.000000 meters along route # Maximum depth: 1106.802702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.671375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390772; longitude = -122.333285; duration = 200; initialDepth = 1021.480669; finalDepth = 1036.671375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.411376 # Actual altitude: 61.411376 # Commanded vehicle depth: 1036.671375 # Seafloor depth: -1098.082751 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299046 meters # Minimum depth: 1071.480669 meters looking forward 200.000000 meters along route # Maximum depth: 1096.971957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1021.480669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390694; longitude = -122.332171; duration = 200; initialDepth = 1006.655455; finalDepth = 1021.480669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4949179999999 # Actual altitude: 63.4949179999999 # Commanded vehicle depth: 1021.480669 # Seafloor depth: -1084.975587 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299161 meters # Minimum depth: 1056.655455 meters looking forward 200.000000 meters along route # Maximum depth: 1083.734902 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.655455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390617; longitude = -122.331056; duration = 200; initialDepth = 995.640454; finalDepth = 1006.655455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.4949179999999 # Actual altitude: 63.4949179999999 # Commanded vehicle depth: 1006.655455 # Seafloor depth: -1069.416709 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299274 meters # Minimum depth: 1045.640454 meters looking forward 200.000000 meters along route # Maximum depth: 1067.017410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 995.640454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390539; longitude = -122.329942; duration = 200; initialDepth = 987.952684; finalDepth = 995.640454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.761254 # Actual altitude: 62.761254 # Commanded vehicle depth: 995.640454 # Seafloor depth: -1055.532375 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299389 meters # Minimum depth: 1037.952684 meters looking forward 200.000000 meters along route # Maximum depth: 1053.938919 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.952684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390461; longitude = -122.328828; duration = 200; initialDepth = 982.703247; finalDepth = 987.952684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8919209999999 # Actual altitude: 59.8919209999999 # Commanded vehicle depth: 987.952684 # Seafloor depth: -1044.712387 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299502 meters # Minimum depth: 1032.703247 meters looking forward 200.000000 meters along route # Maximum depth: 1044.451771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.703247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390384; longitude = -122.327714; duration = 200; initialDepth = 975.854278; finalDepth = 982.703247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7597029999999 # Actual altitude: 56.7597029999999 # Commanded vehicle depth: 982.703247 # Seafloor depth: -1038.085951 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299616 meters # Minimum depth: 1025.854278 meters looking forward 200.000000 meters along route # Maximum depth: 1037.067732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.854278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390306; longitude = -122.326600; duration = 200; initialDepth = 967.304553; finalDepth = 975.854278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0502349999999 # Actual altitude: 56.0502349999999 # Commanded vehicle depth: 975.854278 # Seafloor depth: -1031.904513 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299731 meters # Minimum depth: 1017.304553 meters looking forward 200.000000 meters along route # Maximum depth: 1031.087465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 967.304553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390228; longitude = -122.325485; duration = 200; initialDepth = 960.583694; finalDepth = 967.304553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.646138 # Actual altitude: 57.646138 # Commanded vehicle depth: 967.304553 # Seafloor depth: -1024.950691 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299844 meters # Minimum depth: 1010.583694 meters looking forward 200.000000 meters along route # Maximum depth: 1024.083241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.583694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390150; longitude = -122.324371; duration = 200; initialDepth = 953.887717; finalDepth = 960.583694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.646138 # Actual altitude: 57.646138 # Commanded vehicle depth: 960.583694 # Seafloor depth: -1016.937685 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.299959 meters # Minimum depth: 1003.887717 meters looking forward 200.000000 meters along route # Maximum depth: 1015.897863 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.887717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390073; longitude = -122.323257; duration = 200; initialDepth = 946.103631; finalDepth = 953.887717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.668708 # Actual altitude: 56.668708 # Commanded vehicle depth: 953.887717 # Seafloor depth: -1010.556425 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300073 meters # Minimum depth: 996.103631 meters looking forward 200.000000 meters along route # Maximum depth: 1010.223435 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.103631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389995; longitude = -122.322143; duration = 200; initialDepth = 939.003432; finalDepth = 946.103631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.687799 # Actual altitude: 57.687799 # Commanded vehicle depth: 946.103631 # Seafloor depth: -1003.791430 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300186 meters # Minimum depth: 989.003432 meters looking forward 200.000000 meters along route # Maximum depth: 1003.577575 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.003432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389917; longitude = -122.321028; duration = 200; initialDepth = 928.842985; finalDepth = 939.003432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.687799 # Actual altitude: 57.687799 # Commanded vehicle depth: 939.003432 # Seafloor depth: -996.097078 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300301 meters # Minimum depth: 978.842985 meters looking forward 200.000000 meters along route # Maximum depth: 994.933365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.842985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389840; longitude = -122.319914; duration = 200; initialDepth = 919.455601; finalDepth = 928.842985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.949167 # Actual altitude: 60.949167 # Commanded vehicle depth: 928.842985 # Seafloor depth: -989.792152 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300415 meters # Minimum depth: 969.455601 meters looking forward 200.000000 meters along route # Maximum depth: 986.649144 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.455601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389762; longitude = -122.318800; duration = 200; initialDepth = 911.487506; finalDepth = 919.455601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.949167 # Actual altitude: 60.949167 # Commanded vehicle depth: 919.455601 # Seafloor depth: -978.568292 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300530 meters # Minimum depth: 961.487506 meters looking forward 200.000000 meters along route # Maximum depth: 976.949946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.487506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389684; longitude = -122.317686; duration = 200; initialDepth = 904.516428; finalDepth = 911.487506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.112691 # Actual altitude: 59.112691 # Commanded vehicle depth: 911.487506 # Seafloor depth: -968.567461 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300643 meters # Minimum depth: 954.516428 meters looking forward 200.000000 meters along route # Maximum depth: 967.902630 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.516428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389606; longitude = -122.316572; duration = 200; initialDepth = 877.805495; finalDepth = 904.516428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1959009999999 # Actual altitude: 58.1959009999999 # Commanded vehicle depth: 904.516428 # Seafloor depth: -962.712329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300758 meters # Minimum depth: 927.805495 meters looking forward 200.000000 meters along route # Maximum depth: 960.015794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.805495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389529; longitude = -122.315457; duration = 200; initialDepth = 858.748254; finalDepth = 877.805495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.078693 # Actual altitude: 76.078693 # Commanded vehicle depth: 877.805495 # Seafloor depth: -953.884188 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300872 meters # Minimum depth: 908.748254 meters looking forward 200.000000 meters along route # Maximum depth: 953.046104 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.748254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389451; longitude = -122.314343; duration = 200; initialDepth = 852.300576; finalDepth = 858.748254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.078693 # Actual altitude: 76.078693 # Commanded vehicle depth: 858.748254 # Seafloor depth: -926.468534 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.300986 meters # Minimum depth: 902.300576 meters looking forward 200.000000 meters along route # Maximum depth: 923.913125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 852.300576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389373; longitude = -122.313229; duration = 200; initialDepth = 828.794311; finalDepth = 852.300576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.72028 # Actual altitude: 67.72028 # Commanded vehicle depth: 852.300576 # Seafloor depth: -907.644684 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301101 meters # Minimum depth: 878.794311 meters looking forward 200.000000 meters along route # Maximum depth: 906.232715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.794311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389296; longitude = -122.312115; duration = 200; initialDepth = 803.486675; finalDepth = 828.794311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.758093 # Actual altitude: 69.758093 # Commanded vehicle depth: 828.794311 # Seafloor depth: -898.552404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301215 meters # Minimum depth: 853.486675 meters looking forward 200.000000 meters along route # Maximum depth: 898.185369 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 803.486675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389218; longitude = -122.311001; duration = 200; initialDepth = 795.073914; finalDepth = 803.486675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.96682 # Actual altitude: 70.96682 # Commanded vehicle depth: 803.486675 # Seafloor depth: -874.453495 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301329 meters # Minimum depth: 845.073914 meters looking forward 200.000000 meters along route # Maximum depth: 872.254242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 795.073914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389140; longitude = -122.309886; duration = 200; initialDepth = 783.779006; finalDepth = 795.073914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.96682 # Actual altitude: 70.96682 # Commanded vehicle depth: 795.073914 # Seafloor depth: -851.680157 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301444 meters # Minimum depth: 833.779006 meters looking forward 200.000000 meters along route # Maximum depth: 848.979056 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.779006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389062; longitude = -122.308772; duration = 200; initialDepth = 777.252138; finalDepth = 783.779006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.43632 # Actual altitude: 60.43632 # Commanded vehicle depth: 783.779006 # Seafloor depth: -844.215326 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301558 meters # Minimum depth: 827.252138 meters looking forward 200.000000 meters along route # Maximum depth: 842.921155 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.252138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388985; longitude = -122.307658; duration = 200; initialDepth = 777.252138; finalDepth = 777.252138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.43632 # Actual altitude: 60.43632 # Commanded vehicle depth: 777.252138 # Seafloor depth: -832.926709 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301673 meters # Minimum depth: 827.252138 meters looking forward 200.000000 meters along route # Maximum depth: 866.815510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 777.252138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388907; longitude = -122.306544; duration = 200; initialDepth = 786.976052; finalDepth = 777.252138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7122850000001 # Actual altitude: 56.7122850000001 # Commanded vehicle depth: 777.252138 # Seafloor depth: -833.964423 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301787 meters # Minimum depth: 836.976052 meters looking forward 200.000000 meters along route # Maximum depth: 903.337275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.976052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388829; longitude = -122.305430; duration = 200; initialDepth = 823.989706; finalDepth = 786.976052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.03814 # Actual altitude: 83.03814 # Commanded vehicle depth: 786.976052 # Seafloor depth: -870.014192 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.301902 meters # Minimum depth: 873.989706 meters looking forward 200.000000 meters along route # Maximum depth: 945.133628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 823.989706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388752; longitude = -122.304315; duration = 200; initialDepth = 857.775312; finalDepth = 823.989706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.03814 # Actual altitude: 83.03814 # Commanded vehicle depth: 823.989706 # Seafloor depth: -904.946533 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302016 meters # Minimum depth: 907.775312 meters looking forward 200.000000 meters along route # Maximum depth: 1014.116215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.775312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388674; longitude = -122.303201; duration = 200; initialDepth = 910.049200; finalDepth = 857.775312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.2135960000001 # Actual altitude: 95.2135960000001 # Commanded vehicle depth: 857.775312 # Seafloor depth: -952.988908 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302131 meters # Minimum depth: 960.049200 meters looking forward 200.000000 meters along route # Maximum depth: 1079.239443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 910.049200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388596; longitude = -122.302087; duration = 200; initialDepth = 977.494117; finalDepth = 910.049200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.594145 # Actual altitude: 100 # Commanded vehicle depth: 910.0492 # Seafloor depth: -1018.643345 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302245 meters # Minimum depth: 1027.494117 meters looking forward 200.000000 meters along route # Maximum depth: 1128.654084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.494117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388519; longitude = -122.300973; duration = 200; initialDepth = 1044.072796; finalDepth = 977.494117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.839045 # Actual altitude: 100 # Commanded vehicle depth: 977.494117 # Seafloor depth: -1086.333162 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302360 meters # Minimum depth: 1094.072796 meters looking forward 200.000000 meters along route # Maximum depth: 1142.818130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.072796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388441; longitude = -122.299859; duration = 200; initialDepth = 1080.976206; finalDepth = 1044.072796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.839045 # Actual altitude: 100 # Commanded vehicle depth: 1044.072796 # Seafloor depth: -1129.837610 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302474 meters # Minimum depth: 1130.976206 meters looking forward 200.000000 meters along route # Maximum depth: 1172.125271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.976206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388363; longitude = -122.298744; duration = 200; initialDepth = 1095.823761; finalDepth = 1080.976206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.7648140000001 # Actual altitude: 85.7648140000001 # Commanded vehicle depth: 1080.976206 # Seafloor depth: -1144.701677 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302589 meters # Minimum depth: 1145.823761 meters looking forward 200.000000 meters along route # Maximum depth: 1199.667107 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1095.823761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388285; longitude = -122.297630; duration = 200; initialDepth = 1125.777899; finalDepth = 1095.823761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4074589999998 # Actual altitude: 77.4074589999998 # Commanded vehicle depth: 1095.823761 # Seafloor depth: -1173.231220 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302704 meters # Minimum depth: 1175.777899 meters looking forward 200.000000 meters along route # Maximum depth: 1223.985004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1125.777899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388208; longitude = -122.296516; duration = 200; initialDepth = 1153.196440; finalDepth = 1125.777899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4074589999998 # Actual altitude: 77.4074589999998 # Commanded vehicle depth: 1125.777899 # Seafloor depth: -1202.370076 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302819 meters # Minimum depth: 1203.196440 meters looking forward 200.000000 meters along route # Maximum depth: 1244.541826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1153.196440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388130; longitude = -122.295402; duration = 200; initialDepth = 1178.978249; finalDepth = 1153.196440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.592177 # Actual altitude: 76.592177 # Commanded vehicle depth: 1153.19644 # Seafloor depth: -1226.024433 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.302933 meters # Minimum depth: 1228.978249 meters looking forward 200.000000 meters along route # Maximum depth: 1260.943732 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.978249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.388052; longitude = -122.294287; duration = 200; initialDepth = 1198.035299; finalDepth = 1178.978249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.8279930000001 # Actual altitude: 72.8279930000001 # Commanded vehicle depth: 1178.978249 # Seafloor depth: -1246.348511 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 100.303048 meters # Minimum depth: 1248.035299 meters looking forward 200.000000 meters along route # Maximum depth: 1272.513864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1198.035299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387975; longitude = -122.293173; duration = 200; initialDepth = 1213.563199; finalDepth = 1198.035299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.3702619999999 # Actual altitude: 67.3702619999999 # Commanded vehicle depth: 1198.035299 # Seafloor depth: -1261.725693 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 106.948455 meters # Minimum depth: 1263.563199 meters looking forward 200.000000 meters along route # Maximum depth: 1280.201555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1213.563199 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387897; longitude = -122.292059; duration = 213; initialDepth = 1228.032017; finalDepth = 1213.563199; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 63.6903940000002 # Actual altitude: 63.6903940000002 # Commanded vehicle depth: 1213.563199 # Seafloor depth: -1273.295113 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 147.591766 meters # Minimum depth: 1278.032017 meters looking forward 200.000000 meters along route # Maximum depth: 1280.603577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1228.032017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.387814; longitude = -122.290871; duration = 295; # abortOnTimeout = True; initialDepth = 1224.842532; finalDepth = 1228.032017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 59.731914 # Actual altitude: 59.731914 # Commanded vehicle depth: 1228.032017 # Seafloor depth: -1280.603577 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 93.615266 meters # Minimum depth: 1274.842532 meters looking forward 200.000000 meters along route # Maximum depth: 1279.894165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.842532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389136; longitude = -122.290685; duration = 187; # abortOnTimeout = True; initialDepth = 1214.062604; finalDepth = 1224.842532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.051633 # Actual altitude: 55.051633 # Commanded vehicle depth: 1224.842532 # Seafloor depth: -1279.894165 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 100.317751 meters # Minimum depth: 1264.062604 meters looking forward 200.000000 meters along route # Maximum depth: 1279.894165 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.062604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389210; longitude = -122.291725; duration = 200; initialDepth = 1195.615337; finalDepth = 1214.062604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2542190000001 # Actual altitude: 60.2542190000001 # Commanded vehicle depth: 1214.062604 # Seafloor depth: -1274.316823 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.317634 meters # Minimum depth: 1245.615337 meters looking forward 200.000000 meters along route # Maximum depth: 1273.380940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1195.615337 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389290; longitude = -122.292839; duration = 200; initialDepth = 1170.751023; finalDepth = 1195.615337; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.4723140000001 # Actual altitude: 67.4723140000001 # Commanded vehicle depth: 1195.615337 # Seafloor depth: -1263.087651 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.317517 meters # Minimum depth: 1220.751023 meters looking forward 200.000000 meters along route # Maximum depth: 1261.930335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.751023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389369; longitude = -122.293953; duration = 200; initialDepth = 1143.993018; finalDepth = 1170.751023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.137622 # Actual altitude: 72.137622 # Commanded vehicle depth: 1170.751023 # Seafloor depth: -1242.888645 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.317400 meters # Minimum depth: 1193.993018 meters looking forward 200.000000 meters along route # Maximum depth: 1240.218169 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1143.993018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389448; longitude = -122.295067; duration = 200; initialDepth = 1112.440788; finalDepth = 1143.993018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.0427650000001 # Actual altitude: 74.0427650000001 # Commanded vehicle depth: 1143.993018 # Seafloor depth: -1218.035783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.317283 meters # Minimum depth: 1162.440788 meters looking forward 200.000000 meters along route # Maximum depth: 1215.827052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1112.440788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389528; longitude = -122.296182; duration = 200; initialDepth = 1087.493408; finalDepth = 1112.440788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0679739999998 # Actual altitude: 79.0679739999998 # Commanded vehicle depth: 1112.440788 # Seafloor depth: -1191.508762 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.317166 meters # Minimum depth: 1137.493408 meters looking forward 200.000000 meters along route # Maximum depth: 1187.789261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1087.493408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389607; longitude = -122.297296; duration = 200; initialDepth = 1078.372783; finalDepth = 1087.493408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.0679739999998 # Actual altitude: 79.0679739999998 # Commanded vehicle depth: 1087.493408 # Seafloor depth: -1156.783424 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.317050 meters # Minimum depth: 1128.372783 meters looking forward 200.000000 meters along route # Maximum depth: 1154.761916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.372783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389687; longitude = -122.298410; duration = 200; initialDepth = 1033.404078; finalDepth = 1078.372783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.2900159999999 # Actual altitude: 69.2900159999999 # Commanded vehicle depth: 1078.372783 # Seafloor depth: -1136.701289 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316933 meters # Minimum depth: 1083.404078 meters looking forward 200.000000 meters along route # Maximum depth: 1136.017729 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.404078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389766; longitude = -122.299524; duration = 200; initialDepth = 941.710677; finalDepth = 1033.404078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.5129850000001 # Actual altitude: 89.5129850000001 # Commanded vehicle depth: 1033.404078 # Seafloor depth: -1122.917063 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316816 meters # Minimum depth: 991.710677 meters looking forward 200.000000 meters along route # Maximum depth: 1121.559703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 941.710677 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389845; longitude = -122.300638; duration = 200; initialDepth = 876.555466; finalDepth = 941.710677; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.94505 # Actual altitude: 100 # Commanded vehicle depth: 941.710677 # Seafloor depth: -1076.655727 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316699 meters # Minimum depth: 926.555466 meters looking forward 200.000000 meters along route # Maximum depth: 1057.433857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.555466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.389925; longitude = -122.301753; duration = 200; initialDepth = 811.996153; finalDepth = 876.555466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.94505 # Actual altitude: 100 # Commanded vehicle depth: 876.555466 # Seafloor depth: -985.081474 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316583 meters # Minimum depth: 861.996153 meters looking forward 200.000000 meters along route # Maximum depth: 983.055131 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.996153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390004; longitude = -122.302867; duration = 200; initialDepth = 791.087767; finalDepth = 811.996153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.526008 # Actual altitude: 100 # Commanded vehicle depth: 811.996153 # Seafloor depth: -920.186544 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316466 meters # Minimum depth: 841.087767 meters looking forward 200.000000 meters along route # Maximum depth: 917.220938 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.087767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390084; longitude = -122.303981; duration = 200; initialDepth = 786.541938; finalDepth = 791.087767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.190391 # Actual altitude: 100 # Commanded vehicle depth: 791.087767 # Seafloor depth: -857.327062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316349 meters # Minimum depth: 836.541938 meters looking forward 200.000000 meters along route # Maximum depth: 851.025170 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 786.541938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390163; longitude = -122.305095; duration = 200; initialDepth = 785.381191; finalDepth = 786.541938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.239295 # Actual altitude: 66.239295 # Commanded vehicle depth: 786.541938 # Seafloor depth: -840.070590 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316233 meters # Minimum depth: 835.381191 meters looking forward 200.000000 meters along route # Maximum depth: 839.832694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.381191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390242; longitude = -122.306210; duration = 200; initialDepth = 785.730659; finalDepth = 785.381191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5286520000001 # Actual altitude: 53.5286520000001 # Commanded vehicle depth: 785.381191 # Seafloor depth: -835.381191 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316116 meters # Minimum depth: 835.730659 meters looking forward 200.000000 meters along route # Maximum depth: 849.288981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 785.730659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390322; longitude = -122.307324; duration = 200; initialDepth = 790.181035; finalDepth = 785.730659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.403395 # Actual altitude: 52.403395 # Commanded vehicle depth: 785.730659 # Seafloor depth: -838.134054 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.316000 meters # Minimum depth: 840.181035 meters looking forward 200.000000 meters along route # Maximum depth: 855.877348 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.181035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390401; longitude = -122.308438; duration = 200; initialDepth = 800.253035; finalDepth = 790.181035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6460020000001 # Actual altitude: 59.6460020000001 # Commanded vehicle depth: 790.181035 # Seafloor depth: -849.827037 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315883 meters # Minimum depth: 850.253035 meters looking forward 200.000000 meters along route # Maximum depth: 881.657323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 800.253035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390481; longitude = -122.309552; duration = 200; initialDepth = 806.677340; finalDepth = 800.253035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6460020000001 # Actual altitude: 59.6460020000001 # Commanded vehicle depth: 800.253035 # Seafloor depth: -855.319421 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315766 meters # Minimum depth: 856.677340 meters looking forward 200.000000 meters along route # Maximum depth: 908.322638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 806.677340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390560; longitude = -122.310666; duration = 200; initialDepth = 842.132364; finalDepth = 806.677340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3681700000001 # Actual altitude: 80.3681700000001 # Commanded vehicle depth: 806.67734 # Seafloor depth: -887.045510 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315651 meters # Minimum depth: 892.132364 meters looking forward 200.000000 meters along route # Maximum depth: 917.227666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.132364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390639; longitude = -122.311781; duration = 200; initialDepth = 858.433157; finalDepth = 842.132364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3681700000001 # Actual altitude: 80.3681700000001 # Commanded vehicle depth: 842.132364 # Seafloor depth: -908.369949 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315533 meters # Minimum depth: 908.433157 meters looking forward 200.000000 meters along route # Maximum depth: 934.072745 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.433157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390719; longitude = -122.312895; duration = 200; initialDepth = 870.470290; finalDepth = 858.433157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.237585 # Actual altitude: 66.237585 # Commanded vehicle depth: 858.433157 # Seafloor depth: -919.868983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315417 meters # Minimum depth: 920.470290 meters looking forward 200.000000 meters along route # Maximum depth: 951.914226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.470290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390798; longitude = -122.314009; duration = 200; initialDepth = 886.672273; finalDepth = 870.470290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.7187650000001 # Actual altitude: 64.7187650000001 # Commanded vehicle depth: 870.47029 # Seafloor depth: -935.189055 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315301 meters # Minimum depth: 936.672273 meters looking forward 200.000000 meters along route # Maximum depth: 959.862313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.672273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390878; longitude = -122.315123; duration = 200; initialDepth = 903.746158; finalDepth = 886.672273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.306161 # Actual altitude: 66.306161 # Commanded vehicle depth: 886.672273 # Seafloor depth: -952.978434 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315185 meters # Minimum depth: 953.746158 meters looking forward 200.000000 meters along route # Maximum depth: 971.910083 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 903.746158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390957; longitude = -122.316237; duration = 200; initialDepth = 913.757149; finalDepth = 903.746158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.306161 # Actual altitude: 66.306161 # Commanded vehicle depth: 903.746158 # Seafloor depth: -960.869345 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.315068 meters # Minimum depth: 963.757149 meters looking forward 200.000000 meters along route # Maximum depth: 983.171555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.757149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391036; longitude = -122.317352; duration = 200; initialDepth = 923.263510; finalDepth = 913.757149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.935879 # Actual altitude: 58.935879 # Commanded vehicle depth: 913.757149 # Seafloor depth: -972.693028 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314951 meters # Minimum depth: 973.263510 meters looking forward 200.000000 meters along route # Maximum depth: 991.884949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.263510 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391116; longitude = -122.318466; duration = 200; initialDepth = 932.197535; finalDepth = 923.263510; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.935879 # Actual altitude: 58.935879 # Commanded vehicle depth: 923.26351 # Seafloor depth: -981.976434 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314836 meters # Minimum depth: 982.197535 meters looking forward 200.000000 meters along route # Maximum depth: 999.169177 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.197535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391195; longitude = -122.319580; duration = 200; initialDepth = 945.146546; finalDepth = 932.197535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.185012 # Actual altitude: 61.185012 # Commanded vehicle depth: 932.197535 # Seafloor depth: -993.382547 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314719 meters # Minimum depth: 995.146546 meters looking forward 200.000000 meters along route # Maximum depth: 1007.802991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.146546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391275; longitude = -122.320694; duration = 200; initialDepth = 950.362078; finalDepth = 945.146546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.185012 # Actual altitude: 61.185012 # Commanded vehicle depth: 945.146546 # Seafloor depth: -999.305834 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314603 meters # Minimum depth: 1000.362078 meters looking forward 200.000000 meters along route # Maximum depth: 1014.661876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.362078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391354; longitude = -122.321808; duration = 200; initialDepth = 959.336420; finalDepth = 950.362078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.120109 # Actual altitude: 58.120109 # Commanded vehicle depth: 950.362078 # Seafloor depth: -1008.482187 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314486 meters # Minimum depth: 1009.336420 meters looking forward 200.000000 meters along route # Maximum depth: 1021.851178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.336420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391434; longitude = -122.322923; duration = 200; initialDepth = 965.646637; finalDepth = 959.336420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.120109 # Actual altitude: 58.120109 # Commanded vehicle depth: 959.33642 # Seafloor depth: -1015.050443 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314371 meters # Minimum depth: 1015.646637 meters looking forward 200.000000 meters along route # Maximum depth: 1027.656350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.646637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391513; longitude = -122.324037; duration = 200; initialDepth = 973.086472; finalDepth = 965.646637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6154819999999 # Actual altitude: 56.6154819999999 # Commanded vehicle depth: 965.646637 # Seafloor depth: -1022.262119 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314254 meters # Minimum depth: 1023.086472 meters looking forward 200.000000 meters along route # Maximum depth: 1034.917883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.086472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391592; longitude = -122.325151; duration = 200; initialDepth = 979.565601; finalDepth = 973.086472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6154819999999 # Actual altitude: 56.6154819999999 # Commanded vehicle depth: 973.086472 # Seafloor depth: -1028.755018 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314138 meters # Minimum depth: 1029.565601 meters looking forward 200.000000 meters along route # Maximum depth: 1039.602070 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 979.565601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391672; longitude = -122.326265; duration = 200; initialDepth = 985.979844; finalDepth = 979.565601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.906174 # Actual altitude: 55.906174 # Commanded vehicle depth: 979.565601 # Seafloor depth: -1035.471775 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.314022 meters # Minimum depth: 1035.979844 meters looking forward 200.000000 meters along route # Maximum depth: 1046.851176 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.979844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391751; longitude = -122.327379; duration = 200; initialDepth = 989.869193; finalDepth = 985.979844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.906174 # Actual altitude: 55.906174 # Commanded vehicle depth: 985.979844 # Seafloor depth: -1039.684502 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.313906 meters # Minimum depth: 1039.869193 meters looking forward 200.000000 meters along route # Maximum depth: 1054.550441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 989.869193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391831; longitude = -122.328494; duration = 200; initialDepth = 997.222323; finalDepth = 989.869193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0496660000001 # Actual altitude: 58.0496660000001 # Commanded vehicle depth: 989.869193 # Seafloor depth: -1047.918859 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.313790 meters # Minimum depth: 1047.222323 meters looking forward 200.000000 meters along route # Maximum depth: 1068.504374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.222323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391910; longitude = -122.329608; duration = 200; initialDepth = 1006.043247; finalDepth = 997.222323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3755000000001 # Actual altitude: 58.3755000000001 # Commanded vehicle depth: 997.222323 # Seafloor depth: -1055.597823 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.313673 meters # Minimum depth: 1056.043247 meters looking forward 200.000000 meters along route # Maximum depth: 1093.555994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.043247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391989; longitude = -122.330722; duration = 200; initialDepth = 1020.343496; finalDepth = 1006.043247; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.9180679999999 # Actual altitude: 63.9180679999999 # Commanded vehicle depth: 1006.043247 # Seafloor depth: -1069.961315 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.313558 meters # Minimum depth: 1070.343496 meters looking forward 200.000000 meters along route # Maximum depth: 1103.835008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1020.343496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392069; longitude = -122.331836; duration = 200; initialDepth = 1046.243416; finalDepth = 1020.343496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.778131 # Actual altitude: 74.778131 # Commanded vehicle depth: 1020.343496 # Seafloor depth: -1095.121627 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.313441 meters # Minimum depth: 1096.243416 meters looking forward 200.000000 meters along route # Maximum depth: 1116.115808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.243416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392148; longitude = -122.332951; duration = 200; initialDepth = 1056.723105; finalDepth = 1046.243416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.778131 # Actual altitude: 74.778131 # Commanded vehicle depth: 1046.243416 # Seafloor depth: -1105.261228 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.313326 meters # Minimum depth: 1106.723105 meters looking forward 200.000000 meters along route # Maximum depth: 1121.152267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.723105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392228; longitude = -122.334065; duration = 200; initialDepth = 1066.444880; finalDepth = 1056.723105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.879447 # Actual altitude: 59.879447 # Commanded vehicle depth: 1056.723105 # Seafloor depth: -1116.602552 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 100.313209 meters # Minimum depth: 1116.444880 meters looking forward 200.000000 meters along route # Maximum depth: 1127.162860 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1066.444880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392307; longitude = -122.335179; duration = 200; initialDepth = 1072.568957; finalDepth = 1066.444880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.879447 # Actual altitude: 59.879447 # Commanded vehicle depth: 1066.44488 # Seafloor depth: -1121.941946 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 21 # Segment length 107.000630 meters # Minimum depth: 1122.568957 meters looking forward 200.000000 meters along route # Maximum depth: 1130.632365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.568957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392386; longitude = -122.336293; duration = 214; initialDepth = 1078.350860; finalDepth = 1072.568957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.4970659999999 # Actual altitude: 55.4970659999999 # Commanded vehicle depth: 1072.568957 # Seafloor depth: -1127.759880 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 156.472748 meters # Minimum depth: 1128.350860 meters looking forward 200.000000 meters along route # Maximum depth: 1134.834635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.350860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392471; longitude = -122.337482; duration = 312; # abortOnTimeout = True; initialDepth = 1078.946285; finalDepth = 1078.350860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.1909230000001 # Actual altitude: 55.1909230000001 # Commanded vehicle depth: 1078.35086 # Seafloor depth: -1130.950277 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 96.950541 meters # Minimum depth: 1128.946285 meters looking forward 200.000000 meters along route # Maximum depth: 1134.834635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1078.946285 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393733; longitude = -122.336702; duration = 193; # abortOnTimeout = True; initialDepth = 1072.108554; finalDepth = 1078.946285; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.103194 # Actual altitude: 54.103194 # Commanded vehicle depth: 1078.946285 # Seafloor depth: -1133.049479 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.293776 meters # Minimum depth: 1122.108554 meters looking forward 200.000000 meters along route # Maximum depth: 1133.049479 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.108554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393658; longitude = -122.335625; duration = 200; initialDepth = 1065.410689; finalDepth = 1072.108554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5952120000002 # Actual altitude: 56.5952120000002 # Commanded vehicle depth: 1072.108554 # Seafloor depth: -1128.703766 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.293889 meters # Minimum depth: 1115.410689 meters looking forward 200.000000 meters along route # Maximum depth: 1128.196975 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1065.410689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393580; longitude = -122.334510; duration = 200; initialDepth = 1056.508515; finalDepth = 1065.410689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.5952120000002 # Actual altitude: 56.5952120000002 # Commanded vehicle depth: 1065.410689 # Seafloor depth: -1120.872718 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294002 meters # Minimum depth: 1106.508515 meters looking forward 200.000000 meters along route # Maximum depth: 1120.850670 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1056.508515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393503; longitude = -122.333396; duration = 200; initialDepth = 1046.910840; finalDepth = 1056.508515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.178893 # Actual altitude: 58.178893 # Commanded vehicle depth: 1056.508515 # Seafloor depth: -1114.687408 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294117 meters # Minimum depth: 1096.910840 meters looking forward 200.000000 meters along route # Maximum depth: 1112.878437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1046.910840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393425; longitude = -122.332282; duration = 200; initialDepth = 1030.655664; finalDepth = 1046.910840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.727625 # Actual altitude: 58.727625 # Commanded vehicle depth: 1046.91084 # Seafloor depth: -1105.638465 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294230 meters # Minimum depth: 1080.655664 meters looking forward 200.000000 meters along route # Maximum depth: 1104.693996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.655664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393348; longitude = -122.331168; duration = 200; initialDepth = 1011.926512; finalDepth = 1030.655664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7418630000002 # Actual altitude: 65.7418630000002 # Commanded vehicle depth: 1030.655664 # Seafloor depth: -1096.397527 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294344 meters # Minimum depth: 1061.926512 meters looking forward 200.000000 meters along route # Maximum depth: 1095.127722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1011.926512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393270; longitude = -122.330054; duration = 200; initialDepth = 1002.214364; finalDepth = 1011.926512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3683699999999 # Actual altitude: 66.3683699999999 # Commanded vehicle depth: 1011.926512 # Seafloor depth: -1078.294882 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294457 meters # Minimum depth: 1052.214364 meters looking forward 200.000000 meters along route # Maximum depth: 1075.217552 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1002.214364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393193; longitude = -122.328939; duration = 200; initialDepth = 994.388807; finalDepth = 1002.214364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.3683699999999 # Actual altitude: 66.3683699999999 # Commanded vehicle depth: 1002.214364 # Seafloor depth: -1060.150270 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294571 meters # Minimum depth: 1044.388807 meters looking forward 200.000000 meters along route # Maximum depth: 1058.798828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.388807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393115; longitude = -122.327825; duration = 200; initialDepth = 988.059481; finalDepth = 994.388807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9359060000002 # Actual altitude: 57.9359060000002 # Commanded vehicle depth: 994.388807 # Seafloor depth: -1051.338760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294686 meters # Minimum depth: 1038.059481 meters looking forward 200.000000 meters along route # Maximum depth: 1050.823390 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 988.059481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393038; longitude = -122.326711; duration = 200; initialDepth = 981.924917; finalDepth = 988.059481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9499530000001 # Actual altitude: 56.9499530000001 # Commanded vehicle depth: 988.059481 # Seafloor depth: -1043.840584 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294799 meters # Minimum depth: 1031.924917 meters looking forward 200.000000 meters along route # Maximum depth: 1043.628249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 981.924917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392960; longitude = -122.325597; duration = 200; initialDepth = 975.435297; finalDepth = 981.924917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.336822 # Actual altitude: 56.336822 # Commanded vehicle depth: 981.924917 # Seafloor depth: -1038.261739 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.294912 meters # Minimum depth: 1025.435297 meters looking forward 200.000000 meters along route # Maximum depth: 1038.223023 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 975.435297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392882; longitude = -122.324483; duration = 200; initialDepth = 970.569704; finalDepth = 975.435297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.336822 # Actual altitude: 56.336822 # Commanded vehicle depth: 975.435297 # Seafloor depth: -1031.505908 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295027 meters # Minimum depth: 1020.569704 meters looking forward 200.000000 meters along route # Maximum depth: 1031.483676 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 970.569704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392805; longitude = -122.323368; duration = 200; initialDepth = 968.307800; finalDepth = 970.569704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0706110000001 # Actual altitude: 56.0706110000001 # Commanded vehicle depth: 970.569704 # Seafloor depth: -1025.291369 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295141 meters # Minimum depth: 1018.307800 meters looking forward 200.000000 meters along route # Maximum depth: 1024.970212 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 968.307800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392727; longitude = -122.322254; duration = 200; initialDepth = 957.200699; finalDepth = 968.307800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.721665 # Actual altitude: 54.721665 # Commanded vehicle depth: 968.3078 # Seafloor depth: -1021.659826 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295254 meters # Minimum depth: 1007.200699 meters looking forward 200.000000 meters along route # Maximum depth: 1021.481001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 957.200699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392650; longitude = -122.321140; duration = 200; initialDepth = 950.266417; finalDepth = 957.200699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.144541 # Actual altitude: 61.144541 # Commanded vehicle depth: 957.200699 # Seafloor depth: -1018.345240 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295369 meters # Minimum depth: 1000.266417 meters looking forward 200.000000 meters along route # Maximum depth: 1017.313308 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.266417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392572; longitude = -122.320026; duration = 200; initialDepth = 932.384937; finalDepth = 950.266417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.144541 # Actual altitude: 61.144541 # Commanded vehicle depth: 950.266417 # Seafloor depth: -1006.462305 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295483 meters # Minimum depth: 982.384937 meters looking forward 200.000000 meters along route # Maximum depth: 1007.718067 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.384937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392495; longitude = -122.318911; duration = 200; initialDepth = 917.068859; finalDepth = 932.384937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1397569999999 # Actual altitude: 67.1397569999999 # Commanded vehicle depth: 932.384937 # Seafloor depth: -999.524694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295596 meters # Minimum depth: 967.068859 meters looking forward 200.000000 meters along route # Maximum depth: 999.355313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.068859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392417; longitude = -122.317797; duration = 200; initialDepth = 905.658640; finalDepth = 917.068859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.1397569999999 # Actual altitude: 67.1397569999999 # Commanded vehicle depth: 917.068859 # Seafloor depth: -979.463712 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295711 meters # Minimum depth: 955.658640 meters looking forward 200.000000 meters along route # Maximum depth: 976.089047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 905.658640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392339; longitude = -122.316683; duration = 200; initialDepth = 893.482636; finalDepth = 905.658640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.394853 # Actual altitude: 62.394853 # Commanded vehicle depth: 905.65864 # Seafloor depth: -965.611938 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295824 meters # Minimum depth: 943.482636 meters looking forward 200.000000 meters along route # Maximum depth: 964.200052 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 893.482636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392262; longitude = -122.315569; duration = 200; initialDepth = 882.061845; finalDepth = 893.482636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.956316 # Actual altitude: 60.956316 # Commanded vehicle depth: 893.482636 # Seafloor depth: -954.438952 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.295939 meters # Minimum depth: 932.061845 meters looking forward 200.000000 meters along route # Maximum depth: 954.942542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.061845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392184; longitude = -122.314455; duration = 200; initialDepth = 872.732109; finalDepth = 882.061845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.956316 # Actual altitude: 60.956316 # Commanded vehicle depth: 882.061845 # Seafloor depth: -942.639976 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296053 meters # Minimum depth: 922.732109 meters looking forward 200.000000 meters along route # Maximum depth: 941.286578 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.732109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392107; longitude = -122.313340; duration = 200; initialDepth = 866.040659; finalDepth = 872.732109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5781310000001 # Actual altitude: 60.5781310000001 # Commanded vehicle depth: 872.732109 # Seafloor depth: -931.266930 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296167 meters # Minimum depth: 916.040659 meters looking forward 200.000000 meters along route # Maximum depth: 930.972236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.040659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392029; longitude = -122.312226; duration = 200; initialDepth = 847.859439; finalDepth = 866.040659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.534821 # Actual altitude: 58.534821 # Commanded vehicle depth: 866.040659 # Seafloor depth: -921.823382 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296281 meters # Minimum depth: 897.859439 meters looking forward 200.000000 meters along route # Maximum depth: 921.203191 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.859439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391952; longitude = -122.311112; duration = 200; initialDepth = 819.814297; finalDepth = 847.859439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.310097 # Actual altitude: 66.310097 # Commanded vehicle depth: 847.859439 # Seafloor depth: -914.169536 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296395 meters # Minimum depth: 869.814297 meters looking forward 200.000000 meters along route # Maximum depth: 912.170809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.814297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391874; longitude = -122.309998; duration = 200; initialDepth = 807.838781; finalDepth = 819.814297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.50194 # Actual altitude: 77.50194 # Commanded vehicle depth: 819.814297 # Seafloor depth: -897.316237 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296510 meters # Minimum depth: 857.838781 meters looking forward 200.000000 meters along route # Maximum depth: 896.192243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.838781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391797; longitude = -122.308884; duration = 200; initialDepth = 794.770640; finalDepth = 807.838781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.50194 # Actual altitude: 77.50194 # Commanded vehicle depth: 807.838781 # Seafloor depth: -867.931542 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296624 meters # Minimum depth: 844.770640 meters looking forward 200.000000 meters along route # Maximum depth: 865.538476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.770640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391719; longitude = -122.307769; duration = 200; initialDepth = 782.883888; finalDepth = 794.770640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.794219 # Actual altitude: 62.794219 # Commanded vehicle depth: 794.77064 # Seafloor depth: -857.564859 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296738 meters # Minimum depth: 832.883888 meters looking forward 200.000000 meters along route # Maximum depth: 857.057358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 782.883888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391641; longitude = -122.306655; duration = 200; initialDepth = 781.776336; finalDepth = 782.883888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.794219 # Actual altitude: 62.794219 # Commanded vehicle depth: 782.883888 # Seafloor depth: -843.886071 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296852 meters # Minimum depth: 831.776336 meters looking forward 200.000000 meters along route # Maximum depth: 841.469146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 781.776336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391564; longitude = -122.305541; duration = 200; initialDepth = 783.090704; finalDepth = 781.776336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0021830000001 # Actual altitude: 61.0021830000001 # Commanded vehicle depth: 781.776336 # Seafloor depth: -831.776336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.296967 meters # Minimum depth: 833.090704 meters looking forward 200.000000 meters along route # Maximum depth: 858.298376 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 783.090704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391486; longitude = -122.304427; duration = 200; initialDepth = 793.966349; finalDepth = 783.090704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.307627 # Actual altitude: 59.307627 # Commanded vehicle depth: 783.090704 # Seafloor depth: -842.398331 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297081 meters # Minimum depth: 843.966349 meters looking forward 200.000000 meters along route # Maximum depth: 876.638821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.966349 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391409; longitude = -122.303313; duration = 200; initialDepth = 807.368997; finalDepth = 793.966349; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4998969999999 # Actual altitude: 64.4998969999999 # Commanded vehicle depth: 793.966349 # Seafloor depth: -858.466246 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297195 meters # Minimum depth: 857.368997 meters looking forward 200.000000 meters along route # Maximum depth: 939.833299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 807.368997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391331; longitude = -122.302198; duration = 200; initialDepth = 835.077048; finalDepth = 807.368997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.72178 # Actual altitude: 74.72178 # Commanded vehicle depth: 807.368997 # Seafloor depth: -882.090777 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297310 meters # Minimum depth: 885.077048 meters looking forward 200.000000 meters along route # Maximum depth: 1031.023864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.077048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391254; longitude = -122.301084; duration = 200; initialDepth = 907.947308; finalDepth = 835.077048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.501106 # Actual altitude: 100 # Commanded vehicle depth: 835.077048 # Seafloor depth: -950.578154 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297424 meters # Minimum depth: 959.882157 meters looking forward 200.000000 meters along route # Maximum depth: 1096.383744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.947308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391176; longitude = -122.299970; duration = 200; initialDepth = 980.817650; finalDepth = 907.947308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.291292482888 # Actual altitude: 100 # Commanded vehicle depth: 907.947307517112 # Seafloor depth: -1032.238600 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297538 meters # Minimum depth: 1034.033749 meters looking forward 200.000000 meters along route # Maximum depth: 1123.527097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.817650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391099; longitude = -122.298856; duration = 200; initialDepth = 1053.688075; finalDepth = 980.817650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.609122139934 # Actual altitude: 100 # Commanded vehicle depth: 980.817649860066 # Seafloor depth: -1106.426772 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297653 meters # Minimum depth: 1108.470010 meters looking forward 200.000000 meters along route # Maximum depth: 1141.259138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1053.688075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391021; longitude = -122.297742; duration = 200; initialDepth = 1072.334609; finalDepth = 1053.688075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.609122139934 # Actual altitude: 100 # Commanded vehicle depth: 1053.68807502887 # Seafloor depth: -1123.464067 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297768 meters # Minimum depth: 1122.334609 meters looking forward 200.000000 meters along route # Maximum depth: 1163.388182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1072.334609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390943; longitude = -122.296627; duration = 200; initialDepth = 1096.037720; finalDepth = 1072.334609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.328968 # Actual altitude: 73.328968 # Commanded vehicle depth: 1072.334609 # Seafloor depth: -1145.663577 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297881 meters # Minimum depth: 1146.037720 meters looking forward 200.000000 meters along route # Maximum depth: 1189.952366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1096.037720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390866; longitude = -122.295513; duration = 200; initialDepth = 1123.155031; finalDepth = 1096.037720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.328968 # Actual altitude: 73.328968 # Commanded vehicle depth: 1096.03772 # Seafloor depth: -1169.108594 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.297997 meters # Minimum depth: 1173.155031 meters looking forward 200.000000 meters along route # Maximum depth: 1215.016905 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1123.155031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390788; longitude = -122.294399; duration = 200; initialDepth = 1145.213832; finalDepth = 1123.155031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.070874 # Actual altitude: 73.070874 # Commanded vehicle depth: 1123.155031 # Seafloor depth: -1192.005690 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.298111 meters # Minimum depth: 1195.213832 meters looking forward 200.000000 meters along route # Maximum depth: 1265.665477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1145.213832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390711; longitude = -122.293285; duration = 200; initialDepth = 1174.386465; finalDepth = 1145.213832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.805034 # Actual altitude: 71.805034 # Commanded vehicle depth: 1145.213832 # Seafloor depth: -1217.018866 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.298226 meters # Minimum depth: 1224.386465 meters looking forward 200.000000 meters along route # Maximum depth: 1278.714908 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.386465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390633; longitude = -122.292170; duration = 200; initialDepth = 1217.545124; finalDepth = 1174.386465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.624431 # Actual altitude: 91.624431 # Commanded vehicle depth: 1174.386465 # Seafloor depth: -1266.010896 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 100.298340 meters # Minimum depth: 1267.545124 meters looking forward 200.000000 meters along route # Maximum depth: 1281.811579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.545124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390556; longitude = -122.291056; duration = 200; initialDepth = 1229.131851; finalDepth = 1217.545124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.624431 # Actual altitude: 91.624431 # Commanded vehicle depth: 1217.545124 # Seafloor depth: -1279.231984 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 103.612818 meters # Minimum depth: 1279.131851 meters looking forward 200.000000 meters along route # Maximum depth: 1282.189525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.131851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390478; longitude = -122.289942; duration = 207; initialDepth = 1229.324820; finalDepth = 1229.131851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.68686 # Actual altitude: 61.68686 # Commanded vehicle depth: 1229.131851 # Seafloor depth: -1281.786471 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 143.939898 meters # Minimum depth: 1279.324820 meters looking forward 200.000000 meters along route # Maximum depth: 1282.189525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.324820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.390398; longitude = -122.288791; duration = 287; # abortOnTimeout = True; initialDepth = 1229.491949; finalDepth = 1229.324820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.6546199999998 # Actual altitude: 52.6546199999998 # Commanded vehicle depth: 1229.32482 # Seafloor depth: -1279.366089 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 157.173485 meters # Minimum depth: 1279.491949 meters looking forward 200.000000 meters along route # Maximum depth: 1282.318855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.491949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391690; longitude = -122.288642; duration = 314; # abortOnTimeout = True; initialDepth = 1217.348112; finalDepth = 1229.491949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.018793 # Actual altitude: 52.018793 # Commanded vehicle depth: 1229.491949 # Seafloor depth: -1281.510742 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 100.316607 meters # Minimum depth: 1267.348112 meters looking forward 200.000000 meters along route # Maximum depth: 1281.493142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.348112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391815; longitude = -122.290388; duration = 200; initialDepth = 1166.039739; finalDepth = 1217.348112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6293210000001 # Actual altitude: 61.6293210000001 # Commanded vehicle depth: 1217.348112 # Seafloor depth: -1278.977433 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.316489 meters # Minimum depth: 1216.039739 meters looking forward 200.000000 meters along route # Maximum depth: 1278.272221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.039739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391894; longitude = -122.291502; duration = 200; initialDepth = 1081.874289; finalDepth = 1166.039739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.693597 # Actual altitude: 99.693597 # Commanded vehicle depth: 1166.039739 # Seafloor depth: -1265.733336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.316372 meters # Minimum depth: 1131.874289 meters looking forward 200.000000 meters along route # Maximum depth: 1265.453520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.874289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.391974; longitude = -122.292616; duration = 200; initialDepth = 1071.537157; finalDepth = 1081.874289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.717168 # Actual altitude: 100 # Commanded vehicle depth: 1081.874289 # Seafloor depth: -1199.591457 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.316255 meters # Minimum depth: 1121.537157 meters looking forward 200.000000 meters along route # Maximum depth: 1181.067455 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1071.537157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392054; longitude = -122.293730; duration = 200; initialDepth = 1052.405362; finalDepth = 1071.537157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.717168 # Actual altitude: 100 # Commanded vehicle depth: 1071.537157 # Seafloor depth: -1131.333211 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.316138 meters # Minimum depth: 1102.405362 meters looking forward 200.000000 meters along route # Maximum depth: 1131.021464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1052.405362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392133; longitude = -122.294845; duration = 200; initialDepth = 1044.849942; finalDepth = 1052.405362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.255791 # Actual altitude: 72.255791 # Commanded vehicle depth: 1052.405362 # Seafloor depth: -1124.661153 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.316021 meters # Minimum depth: 1094.849942 meters looking forward 200.000000 meters along route # Maximum depth: 1123.999326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1044.849942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392213; longitude = -122.295959; duration = 200; initialDepth = 1041.485559; finalDepth = 1044.849942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.255791 # Actual altitude: 72.255791 # Commanded vehicle depth: 1044.849942 # Seafloor depth: -1100.470699 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315903 meters # Minimum depth: 1091.485559 meters looking forward 200.000000 meters along route # Maximum depth: 1100.470322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1041.485559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392293; longitude = -122.297073; duration = 200; initialDepth = 965.166379; finalDepth = 1041.485559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6207569999999 # Actual altitude: 55.6207569999999 # Commanded vehicle depth: 1041.485559 # Seafloor depth: -1095.941320 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315787 meters # Minimum depth: 1015.166379 meters looking forward 200.000000 meters along route # Maximum depth: 1096.382433 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.166379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392372; longitude = -122.298187; duration = 200; initialDepth = 895.027839; finalDepth = 965.166379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.07475 # Actual altitude: 100 # Commanded vehicle depth: 965.166379 # Seafloor depth: -1089.241129 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315670 meters # Minimum depth: 945.027839 meters looking forward 200.000000 meters along route # Maximum depth: 1083.644520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.027839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392452; longitude = -122.299301; duration = 200; initialDepth = 819.763604; finalDepth = 895.027839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.07475 # Actual altitude: 100 # Commanded vehicle depth: 895.027839 # Seafloor depth: -1011.138440 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315552 meters # Minimum depth: 869.763604 meters looking forward 200.000000 meters along route # Maximum depth: 1006.484462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 819.763604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392531; longitude = -122.300416; duration = 200; initialDepth = 794.866681; finalDepth = 819.763604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.704617 # Actual altitude: 100 # Commanded vehicle depth: 819.763604 # Seafloor depth: -944.468221 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315436 meters # Minimum depth: 844.866681 meters looking forward 200.000000 meters along route # Maximum depth: 932.855483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 794.866681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392611; longitude = -122.301530; duration = 200; initialDepth = 791.542579; finalDepth = 794.866681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 124.704617 # Actual altitude: 100 # Commanded vehicle depth: 794.866681 # Seafloor depth: -867.545023 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315318 meters # Minimum depth: 841.542579 meters looking forward 200.000000 meters along route # Maximum depth: 863.900613 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 791.542579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392691; longitude = -122.302644; duration = 200; initialDepth = 790.570055; finalDepth = 791.542579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.678342 # Actual altitude: 72.678342 # Commanded vehicle depth: 791.542579 # Seafloor depth: -844.297457 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315202 meters # Minimum depth: 840.570055 meters looking forward 200.000000 meters along route # Maximum depth: 845.958979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.570055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392770; longitude = -122.303758; duration = 200; initialDepth = 790.570055; finalDepth = 790.570055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.754878 # Actual altitude: 52.754878 # Commanded vehicle depth: 790.570055 # Seafloor depth: -841.696714 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.315084 meters # Minimum depth: 840.570055 meters looking forward 200.000000 meters along route # Maximum depth: 854.211008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.570055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392850; longitude = -122.304872; duration = 200; initialDepth = 797.807447; finalDepth = 790.570055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3580069999999 # Actual altitude: 56.3580069999999 # Commanded vehicle depth: 790.570055 # Seafloor depth: -846.928062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314968 meters # Minimum depth: 847.807447 meters looking forward 200.000000 meters along route # Maximum depth: 862.620851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 797.807447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392930; longitude = -122.305987; duration = 200; initialDepth = 805.437880; finalDepth = 797.807447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8606209999999 # Actual altitude: 56.8606209999999 # Commanded vehicle depth: 797.807447 # Seafloor depth: -854.668068 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314851 meters # Minimum depth: 855.437880 meters looking forward 200.000000 meters along route # Maximum depth: 883.509153 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 805.437880 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393009; longitude = -122.307101; duration = 200; initialDepth = 816.515789; finalDepth = 805.437880; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.840859 # Actual altitude: 58.840859 # Commanded vehicle depth: 805.43788 # Seafloor depth: -864.278739 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314734 meters # Minimum depth: 866.515789 meters looking forward 200.000000 meters along route # Maximum depth: 906.812677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 816.515789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393089; longitude = -122.308215; duration = 200; initialDepth = 836.644884; finalDepth = 816.515789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.777064 # Actual altitude: 68.777064 # Commanded vehicle depth: 816.515789 # Seafloor depth: -885.292853 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314617 meters # Minimum depth: 886.644884 meters looking forward 200.000000 meters along route # Maximum depth: 916.734923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.644884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393168; longitude = -122.309329; duration = 200; initialDepth = 858.731760; finalDepth = 836.644884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4779759999999 # Actual altitude: 71.4779759999999 # Commanded vehicle depth: 836.644884 # Seafloor depth: -908.122860 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314501 meters # Minimum depth: 908.731760 meters looking forward 200.000000 meters along route # Maximum depth: 922.551730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.731760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393248; longitude = -122.310443; duration = 200; initialDepth = 868.496370; finalDepth = 858.731760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.4779759999999 # Actual altitude: 71.4779759999999 # Commanded vehicle depth: 858.73176 # Seafloor depth: -918.149723 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314383 meters # Minimum depth: 918.496370 meters looking forward 200.000000 meters along route # Maximum depth: 928.105042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.496370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393328; longitude = -122.311558; duration = 200; initialDepth = 872.207945; finalDepth = 868.496370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.417963 # Actual altitude: 59.417963 # Commanded vehicle depth: 868.49637 # Seafloor depth: -921.255106 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314267 meters # Minimum depth: 922.207945 meters looking forward 200.000000 meters along route # Maximum depth: 935.467686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.207945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393407; longitude = -122.312672; duration = 200; initialDepth = 879.301350; finalDepth = 872.207945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.394595 # Actual altitude: 56.394595 # Commanded vehicle depth: 872.207945 # Seafloor depth: -928.602540 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314150 meters # Minimum depth: 929.301350 meters looking forward 200.000000 meters along route # Maximum depth: 953.163277 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.301350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393487; longitude = -122.313786; duration = 200; initialDepth = 886.882897; finalDepth = 879.301350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.394595 # Actual altitude: 56.394595 # Commanded vehicle depth: 879.30135 # Seafloor depth: -935.644370 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.314034 meters # Minimum depth: 936.882897 meters looking forward 200.000000 meters along route # Maximum depth: 967.403653 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.882897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393567; longitude = -122.314900; duration = 200; initialDepth = 906.340988; finalDepth = 886.882897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7170500000001 # Actual altitude: 67.7170500000001 # Commanded vehicle depth: 886.882897 # Seafloor depth: -954.599947 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313917 meters # Minimum depth: 956.340988 meters looking forward 200.000000 meters along route # Maximum depth: 986.131266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.340988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393646; longitude = -122.316015; duration = 200; initialDepth = 920.261606; finalDepth = 906.340988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.7170500000001 # Actual altitude: 67.7170500000001 # Commanded vehicle depth: 906.340988 # Seafloor depth: -969.251459 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313800 meters # Minimum depth: 970.261606 meters looking forward 200.000000 meters along route # Maximum depth: 999.948432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.261606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393726; longitude = -122.317129; duration = 200; initialDepth = 938.309641; finalDepth = 920.261606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.880177 # Actual altitude: 66.880177 # Commanded vehicle depth: 920.261606 # Seafloor depth: -987.141783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313683 meters # Minimum depth: 988.309641 meters looking forward 200.000000 meters along route # Maximum depth: 1012.160319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 938.309641 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393806; longitude = -122.318243; duration = 200; initialDepth = 952.028406; finalDepth = 938.309641; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.880177 # Actual altitude: 66.880177 # Commanded vehicle depth: 938.309641 # Seafloor depth: -1001.046138 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313567 meters # Minimum depth: 1002.028406 meters looking forward 200.000000 meters along route # Maximum depth: 1022.766265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 952.028406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393885; longitude = -122.319357; duration = 200; initialDepth = 964.538665; finalDepth = 952.028406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.736497 # Actual altitude: 62.736497 # Commanded vehicle depth: 952.028406 # Seafloor depth: -1009.555533 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313450 meters # Minimum depth: 1014.538665 meters looking forward 200.000000 meters along route # Maximum depth: 1028.789519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 964.538665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393965; longitude = -122.320471; duration = 200; initialDepth = 973.260736; finalDepth = 964.538665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.443184 # Actual altitude: 58.443184 # Commanded vehicle depth: 964.538665 # Seafloor depth: -1022.981849 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313334 meters # Minimum depth: 1023.260736 meters looking forward 200.000000 meters along route # Maximum depth: 1033.277585 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 973.260736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394044; longitude = -122.321586; duration = 200; initialDepth = 978.400762; finalDepth = 973.260736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.443184 # Actual altitude: 58.443184 # Commanded vehicle depth: 973.260736 # Seafloor depth: -1031.604347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313217 meters # Minimum depth: 1028.400762 meters looking forward 200.000000 meters along route # Maximum depth: 1037.657987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.400762 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394124; longitude = -122.322700; duration = 200; initialDepth = 983.576194; finalDepth = 978.400762; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.343611 # Actual altitude: 58.343611 # Commanded vehicle depth: 978.400762 # Seafloor depth: -1033.415838 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.313101 meters # Minimum depth: 1033.576194 meters looking forward 200.000000 meters along route # Maximum depth: 1043.449521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.576194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394204; longitude = -122.323814; duration = 200; initialDepth = 987.957922; finalDepth = 983.576194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0150759999999 # Actual altitude: 55.0150759999999 # Commanded vehicle depth: 983.576194 # Seafloor depth: -1038.169563 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312984 meters # Minimum depth: 1037.957922 meters looking forward 200.000000 meters along route # Maximum depth: 1048.907357 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.957922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394283; longitude = -122.324928; duration = 200; initialDepth = 993.757832; finalDepth = 987.957922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7711409999999 # Actual altitude: 55.7711409999999 # Commanded vehicle depth: 987.957922 # Seafloor depth: -1043.729063 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312868 meters # Minimum depth: 1043.757832 meters looking forward 200.000000 meters along route # Maximum depth: 1055.743202 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 993.757832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394363; longitude = -122.326042; duration = 200; initialDepth = 1001.453819; finalDepth = 993.757832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9315979999999 # Actual altitude: 55.9315979999999 # Commanded vehicle depth: 993.757832 # Seafloor depth: -1049.689430 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312752 meters # Minimum depth: 1051.453819 meters looking forward 200.000000 meters along route # Maximum depth: 1064.657047 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1001.453819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394443; longitude = -122.327157; duration = 200; initialDepth = 1007.596955; finalDepth = 1001.453819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9315979999999 # Actual altitude: 55.9315979999999 # Commanded vehicle depth: 1001.453819 # Seafloor depth: -1056.593858 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312634 meters # Minimum depth: 1057.596955 meters looking forward 200.000000 meters along route # Maximum depth: 1075.666971 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1007.596955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394522; longitude = -122.328271; duration = 200; initialDepth = 1015.812198; finalDepth = 1007.596955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.841494 # Actual altitude: 56.841494 # Commanded vehicle depth: 1007.596955 # Seafloor depth: -1064.438449 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312519 meters # Minimum depth: 1065.812198 meters looking forward 200.000000 meters along route # Maximum depth: 1086.548618 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1015.812198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394602; longitude = -122.329385; duration = 200; initialDepth = 1027.297056; finalDepth = 1015.812198; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.892343 # Actual altitude: 60.892343 # Commanded vehicle depth: 1015.812198 # Seafloor depth: -1076.704541 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312402 meters # Minimum depth: 1077.297056 meters looking forward 200.000000 meters along route # Maximum depth: 1099.084770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1027.297056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394681; longitude = -122.330499; duration = 200; initialDepth = 1038.674023; finalDepth = 1027.297056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.892343 # Actual altitude: 60.892343 # Commanded vehicle depth: 1027.297056 # Seafloor depth: -1087.285322 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312286 meters # Minimum depth: 1088.674023 meters looking forward 200.000000 meters along route # Maximum depth: 1109.989867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1038.674023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394761; longitude = -122.331613; duration = 200; initialDepth = 1051.479896; finalDepth = 1038.674023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.327558 # Actual altitude: 61.327558 # Commanded vehicle depth: 1038.674023 # Seafloor depth: -1100.001581 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312170 meters # Minimum depth: 1101.479896 meters looking forward 200.000000 meters along route # Maximum depth: 1117.027084 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1051.479896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394841; longitude = -122.332728; duration = 200; initialDepth = 1061.600935; finalDepth = 1051.479896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.327558 # Actual altitude: 61.327558 # Commanded vehicle depth: 1051.479896 # Seafloor depth: -1110.957668 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 100.312053 meters # Minimum depth: 1111.600935 meters looking forward 200.000000 meters along route # Maximum depth: 1126.379468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1061.600935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394920; longitude = -122.333842; duration = 200; initialDepth = 1068.467661; finalDepth = 1061.600935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.477772 # Actual altitude: 59.477772 # Commanded vehicle depth: 1061.600935 # Seafloor depth: -1117.849406 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 106.999395 meters # Minimum depth: 1118.467661 meters looking forward 200.000000 meters along route # Maximum depth: 1133.532156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.467661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395000; longitude = -122.334956; duration = 213; initialDepth = 1080.494506; finalDepth = 1068.467661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.431587 # Actual altitude: 58.431587 # Commanded vehicle depth: 1068.467661 # Seafloor depth: -1126.899248 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 145.563055 meters # Minimum depth: 1130.494506 meters looking forward 200.000000 meters along route # Maximum depth: 1138.608259 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1080.494506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395085; longitude = -122.336145; duration = 291; # abortOnTimeout = True; initialDepth = 1079.829583; finalDepth = 1080.494506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.431587 # Actual altitude: 58.431587 # Commanded vehicle depth: 1080.494506 # Seafloor depth: -1133.963379 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 106.974334 meters # Minimum depth: 1129.829583 meters looking forward 200.000000 meters along route # Maximum depth: 1138.999837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.829583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396347; longitude = -122.335699; duration = 213; # abortOnTimeout = True; initialDepth = 1069.205559; finalDepth = 1079.829583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1702540000001 # Actual altitude: 59.1702540000001 # Commanded vehicle depth: 1079.829583 # Seafloor depth: -1138.999837 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 100.288555 meters # Minimum depth: 1119.205559 meters looking forward 200.000000 meters along route # Maximum depth: 1137.890820 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1069.205559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396264; longitude = -122.334510; duration = 200; initialDepth = 1058.034148; finalDepth = 1069.205559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1702540000001 # Actual altitude: 59.1702540000001 # Commanded vehicle depth: 1069.205559 # Seafloor depth: -1128.186730 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.288668 meters # Minimum depth: 1108.034148 meters looking forward 200.000000 meters along route # Maximum depth: 1127.101625 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1058.034148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396187; longitude = -122.333396; duration = 200; initialDepth = 1047.421736; finalDepth = 1058.034148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.491712 # Actual altitude: 60.491712 # Commanded vehicle depth: 1058.034148 # Seafloor depth: -1118.525860 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.288782 meters # Minimum depth: 1097.421736 meters looking forward 200.000000 meters along route # Maximum depth: 1116.926005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1047.421736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396109; longitude = -122.332282; duration = 200; initialDepth = 1039.546905; finalDepth = 1047.421736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.491712 # Actual altitude: 60.491712 # Commanded vehicle depth: 1047.421736 # Seafloor depth: -1106.893847 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.288896 meters # Minimum depth: 1089.546905 meters looking forward 200.000000 meters along route # Maximum depth: 1106.230679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1039.546905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396032; longitude = -122.331168; duration = 200; initialDepth = 1030.527827; finalDepth = 1039.546905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.472111 # Actual altitude: 59.472111 # Commanded vehicle depth: 1039.546905 # Seafloor depth: -1096.644760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289008 meters # Minimum depth: 1080.527827 meters looking forward 200.000000 meters along route # Maximum depth: 1095.221374 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1030.527827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395955; longitude = -122.330054; duration = 200; initialDepth = 1023.592048; finalDepth = 1030.527827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8545880000001 # Actual altitude: 58.8545880000001 # Commanded vehicle depth: 1030.527827 # Seafloor depth: -1089.382415 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289123 meters # Minimum depth: 1073.592048 meters looking forward 200.000000 meters along route # Maximum depth: 1088.493019 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1023.592048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395877; longitude = -122.328939; duration = 200; initialDepth = 1016.267423; finalDepth = 1023.592048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8545880000001 # Actual altitude: 58.8545880000001 # Commanded vehicle depth: 1023.592048 # Seafloor depth: -1079.848177 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289235 meters # Minimum depth: 1066.267423 meters looking forward 200.000000 meters along route # Maximum depth: 1079.202249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1016.267423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395800; longitude = -122.327825; duration = 200; initialDepth = 1012.226469; finalDepth = 1016.267423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.142055 # Actual altitude: 57.142055 # Commanded vehicle depth: 1016.267423 # Seafloor depth: -1073.409478 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289350 meters # Minimum depth: 1062.226469 meters looking forward 200.000000 meters along route # Maximum depth: 1072.078265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.226469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395723; longitude = -122.326711; duration = 200; initialDepth = 1006.703894; finalDepth = 1012.226469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.142055 # Actual altitude: 57.142055 # Commanded vehicle depth: 1012.226469 # Seafloor depth: -1065.964318 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289463 meters # Minimum depth: 1056.703894 meters looking forward 200.000000 meters along route # Maximum depth: 1064.712864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1006.703894 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395645; longitude = -122.325597; duration = 200; initialDepth = 997.097971; finalDepth = 1006.703894; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7419620000001 # Actual altitude: 55.7419620000001 # Commanded vehicle depth: 1006.703894 # Seafloor depth: -1062.445856 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289576 meters # Minimum depth: 1047.097971 meters looking forward 200.000000 meters along route # Maximum depth: 1060.826179 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 997.097971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395568; longitude = -122.324483; duration = 200; initialDepth = 991.962211; finalDepth = 997.097971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3351650000002 # Actual altitude: 58.3351650000002 # Commanded vehicle depth: 997.097971 # Seafloor depth: -1055.433136 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289691 meters # Minimum depth: 1041.962211 meters looking forward 200.000000 meters along route # Maximum depth: 1053.442684 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.962211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395491; longitude = -122.323368; duration = 200; initialDepth = 987.713253; finalDepth = 991.962211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3351650000002 # Actual altitude: 58.3351650000002 # Commanded vehicle depth: 991.962211 # Seafloor depth: -1048.273885 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289804 meters # Minimum depth: 1037.713253 meters looking forward 200.000000 meters along route # Maximum depth: 1047.546134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 987.713253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395413; longitude = -122.322254; duration = 200; initialDepth = 983.915666; finalDepth = 987.713253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.311674 # Actual altitude: 56.311674 # Commanded vehicle depth: 987.713253 # Seafloor depth: -1042.741694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.289917 meters # Minimum depth: 1033.915666 meters looking forward 200.000000 meters along route # Maximum depth: 1042.897450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.915666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395336; longitude = -122.321140; duration = 200; initialDepth = 974.018900; finalDepth = 983.915666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0284410000002 # Actual altitude: 55.0284410000002 # Commanded vehicle depth: 983.915666 # Seafloor depth: -1037.166102 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290032 meters # Minimum depth: 1024.018900 meters looking forward 200.000000 meters along route # Maximum depth: 1036.524256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 974.018900 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395259; longitude = -122.320026; duration = 200; initialDepth = 950.508519; finalDepth = 974.018900; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9937150000001 # Actual altitude: 59.9937150000001 # Commanded vehicle depth: 974.0189 # Seafloor depth: -1034.012615 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290145 meters # Minimum depth: 1000.508519 meters looking forward 200.000000 meters along route # Maximum depth: 1031.521266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 950.508519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395181; longitude = -122.318911; duration = 200; initialDepth = 940.735532; finalDepth = 950.508519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.699383 # Actual altitude: 71.699383 # Commanded vehicle depth: 950.508519 # Seafloor depth: -1022.207902 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290258 meters # Minimum depth: 990.735532 meters looking forward 200.000000 meters along route # Maximum depth: 1020.648006 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.735532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395104; longitude = -122.317797; duration = 200; initialDepth = 924.164491; finalDepth = 940.735532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.699383 # Actual altitude: 71.699383 # Commanded vehicle depth: 940.735532 # Seafloor depth: -1003.241462 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290373 meters # Minimum depth: 974.164491 meters looking forward 200.000000 meters along route # Maximum depth: 1003.458263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.164491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395026; longitude = -122.316683; duration = 200; initialDepth = 913.241491; finalDepth = 924.164491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.174802 # Actual altitude: 65.174802 # Commanded vehicle depth: 924.164491 # Seafloor depth: -989.339293 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290486 meters # Minimum depth: 963.241491 meters looking forward 200.000000 meters along route # Maximum depth: 987.539153 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.241491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394949; longitude = -122.315569; duration = 200; initialDepth = 901.477095; finalDepth = 913.241491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.174802 # Actual altitude: 65.174802 # Commanded vehicle depth: 913.241491 # Seafloor depth: -972.830290 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290601 meters # Minimum depth: 951.477095 meters looking forward 200.000000 meters along route # Maximum depth: 971.609061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.477095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394872; longitude = -122.314455; duration = 200; initialDepth = 879.291836; finalDepth = 901.477095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.403041 # Actual altitude: 61.403041 # Commanded vehicle depth: 901.477095 # Seafloor depth: -962.880136 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290714 meters # Minimum depth: 929.291836 meters looking forward 200.000000 meters along route # Maximum depth: 960.986982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.291836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394794; longitude = -122.313340; duration = 200; initialDepth = 872.312451; finalDepth = 879.291836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9644460000001 # Actual altitude: 67.9644460000001 # Commanded vehicle depth: 879.291836 # Seafloor depth: -947.256282 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290828 meters # Minimum depth: 922.312451 meters looking forward 200.000000 meters along route # Maximum depth: 942.825657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.312451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394717; longitude = -122.312226; duration = 200; initialDepth = 868.960258; finalDepth = 872.312451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9644460000001 # Actual altitude: 67.9644460000001 # Commanded vehicle depth: 872.312451 # Seafloor depth: -928.019724 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.290941 meters # Minimum depth: 918.960258 meters looking forward 200.000000 meters along route # Maximum depth: 927.965354 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.960258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394640; longitude = -122.311112; duration = 200; initialDepth = 858.252539; finalDepth = 868.960258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.707273 # Actual altitude: 55.707273 # Commanded vehicle depth: 868.960258 # Seafloor depth: -923.920717 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291056 meters # Minimum depth: 908.252539 meters looking forward 200.000000 meters along route # Maximum depth: 922.764681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.252539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394562; longitude = -122.309998; duration = 200; initialDepth = 841.772747; finalDepth = 858.252539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6968270000001 # Actual altitude: 59.6968270000001 # Commanded vehicle depth: 858.252539 # Seafloor depth: -917.949366 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291170 meters # Minimum depth: 891.772747 meters looking forward 200.000000 meters along route # Maximum depth: 918.257420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 841.772747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394485; longitude = -122.308884; duration = 200; initialDepth = 830.928173; finalDepth = 841.772747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4457610000001 # Actual altitude: 64.4457610000001 # Commanded vehicle depth: 841.772747 # Seafloor depth: -906.218508 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291284 meters # Minimum depth: 880.928173 meters looking forward 200.000000 meters along route # Maximum depth: 903.216393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.928173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394408; longitude = -122.307769; duration = 200; initialDepth = 821.152733; finalDepth = 830.928173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4457610000001 # Actual altitude: 64.4457610000001 # Commanded vehicle depth: 830.928173 # Seafloor depth: -891.062326 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291398 meters # Minimum depth: 871.152733 meters looking forward 200.000000 meters along route # Maximum depth: 890.230521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.152733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394330; longitude = -122.306655; duration = 200; initialDepth = 809.138849; finalDepth = 821.152733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.134153 # Actual altitude: 60.134153 # Commanded vehicle depth: 821.152733 # Seafloor depth: -880.591817 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291511 meters # Minimum depth: 859.138849 meters looking forward 200.000000 meters along route # Maximum depth: 879.832507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 809.138849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394253; longitude = -122.305541; duration = 200; initialDepth = 792.053249; finalDepth = 809.138849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.9333869999999 # Actual altitude: 60.9333869999999 # Commanded vehicle depth: 809.138849 # Seafloor depth: -870.072236 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291626 meters # Minimum depth: 842.053249 meters looking forward 200.000000 meters along route # Maximum depth: 867.907709 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 792.053249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394176; longitude = -122.304427; duration = 200; initialDepth = 790.884320; finalDepth = 792.053249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.410637 # Actual altitude: 66.410637 # Commanded vehicle depth: 792.053249 # Seafloor depth: -858.463886 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291740 meters # Minimum depth: 840.884320 meters looking forward 200.000000 meters along route # Maximum depth: 856.762656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.884320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394098; longitude = -122.303313; duration = 200; initialDepth = 790.884320; finalDepth = 790.884320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.410637 # Actual altitude: 66.410637 # Commanded vehicle depth: 790.88432 # Seafloor depth: -841.670739 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291854 meters # Minimum depth: 840.884320 meters looking forward 200.000000 meters along route # Maximum depth: 854.227278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 790.884320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394021; longitude = -122.302198; duration = 200; initialDepth = 793.959992; finalDepth = 790.884320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.76712 # Actual altitude: 52.76712 # Commanded vehicle depth: 790.88432 # Seafloor depth: -843.651440 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.291968 meters # Minimum depth: 843.959992 meters looking forward 200.000000 meters along route # Maximum depth: 910.657044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.959992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393943; longitude = -122.301084; duration = 200; initialDepth = 808.866808; finalDepth = 793.959992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.8035359999999 # Actual altitude: 61.8035359999999 # Commanded vehicle depth: 793.959992 # Seafloor depth: -855.763528 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292083 meters # Minimum depth: 858.866808 meters looking forward 200.000000 meters along route # Maximum depth: 1002.149346 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 808.866808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393866; longitude = -122.299970; duration = 200; initialDepth = 874.230383; finalDepth = 808.866808; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 105.660936 # Actual altitude: 100 # Commanded vehicle depth: 808.866808 # Seafloor depth: -914.527744 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292196 meters # Minimum depth: 924.230383 meters looking forward 200.000000 meters along route # Maximum depth: 1047.861576 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.230383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393789; longitude = -122.298856; duration = 200; initialDepth = 947.096927; finalDepth = 874.230383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.400337 # Actual altitude: 100 # Commanded vehicle depth: 874.230383 # Seafloor depth: -1008.630720 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292311 meters # Minimum depth: 1017.443075 meters looking forward 200.000000 meters along route # Maximum depth: 1050.307055 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.096927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393711; longitude = -122.297742; duration = 200; initialDepth = 996.760722; finalDepth = 947.096927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.400337 # Actual altitude: 100 # Commanded vehicle depth: 947.096926978705 # Seafloor depth: -1047.512055 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292425 meters # Minimum depth: 1046.760722 meters looking forward 200.000000 meters along route # Maximum depth: 1054.817571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.760722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393634; longitude = -122.296627; duration = 200; initialDepth = 982.113890; finalDepth = 996.760722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.415128021295 # Actual altitude: 100 # Commanded vehicle depth: 996.760722 # Seafloor depth: -1050.094678 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292539 meters # Minimum depth: 1032.113890 meters looking forward 200.000000 meters along route # Maximum depth: 1054.817571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.113890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393557; longitude = -122.295513; duration = 200; initialDepth = 982.113890; finalDepth = 982.113890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.762293 # Actual altitude: 69.762293 # Commanded vehicle depth: 982.11389 # Seafloor depth: -1051.876183 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292653 meters # Minimum depth: 1032.113890 meters looking forward 200.000000 meters along route # Maximum depth: 1053.358138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.113890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393479; longitude = -122.294399; duration = 200; initialDepth = 983.792300; finalDepth = 982.113890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.762293 # Actual altitude: 69.762293 # Commanded vehicle depth: 982.11389 # Seafloor depth: -1034.591021 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292768 meters # Minimum depth: 1033.792300 meters looking forward 200.000000 meters along route # Maximum depth: 1150.556001 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 983.792300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393402; longitude = -122.293285; duration = 200; initialDepth = 1008.298281; finalDepth = 983.792300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.5751909999999 # Actual altitude: 70.5751909999999 # Commanded vehicle depth: 983.7923 # Seafloor depth: -1054.367491 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292882 meters # Minimum depth: 1058.298281 meters looking forward 200.000000 meters along route # Maximum depth: 1197.148771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1008.298281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393325; longitude = -122.292170; duration = 200; initialDepth = 1081.165323; finalDepth = 1008.298281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 144.780548 # Actual altitude: 100 # Commanded vehicle depth: 1008.298281 # Seafloor depth: -1153.078829 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.292997 meters # Minimum depth: 1160.199132 meters looking forward 200.000000 meters along route # Maximum depth: 1271.314891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.165323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393247; longitude = -122.291056; duration = 200; initialDepth = 1154.032449; finalDepth = 1081.165323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 144.780548 # Actual altitude: 100 # Commanded vehicle depth: 1081.16532338687 # Seafloor depth: -1202.972568 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293110 meters # Minimum depth: 1213.904452 meters looking forward 200.000000 meters along route # Maximum depth: 1279.350014 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1154.032449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393170; longitude = -122.289942; duration = 200; initialDepth = 1226.018055; finalDepth = 1154.032449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 121.807244613133 # Actual altitude: 100 # Commanded vehicle depth: 1154.03244932613 # Seafloor depth: -1274.335644 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293226 meters # Minimum depth: 1276.018055 meters looking forward 200.000000 meters along route # Maximum depth: 1282.424011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1226.018055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393093; longitude = -122.288828; duration = 200; initialDepth = 1229.893265; finalDepth = 1226.018055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.303194673874 # Actual altitude: 100 # Commanded vehicle depth: 1226.018055 # Seafloor depth: -1280.235760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293339 meters # Minimum depth: 1279.893265 meters looking forward 200.000000 meters along route # Maximum depth: 1282.671201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1229.893265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393015; longitude = -122.287714; duration = 200; initialDepth = 1224.569162; finalDepth = 1229.893265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.217705 # Actual altitude: 54.217705 # Commanded vehicle depth: 1229.893265 # Seafloor depth: -1282.122578 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293454 meters # Minimum depth: 1274.569162 meters looking forward 200.000000 meters along route # Maximum depth: 1282.671201 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1224.569162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392938; longitude = -122.286599; duration = 200; initialDepth = 1221.511043; finalDepth = 1224.569162; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.914387 # Actual altitude: 54.914387 # Commanded vehicle depth: 1224.569162 # Seafloor depth: -1279.483549 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293569 meters # Minimum depth: 1271.511043 meters looking forward 200.000000 meters along route # Maximum depth: 1278.066035 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1221.511043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392861; longitude = -122.285485; duration = 200; initialDepth = 1219.366332; finalDepth = 1221.511043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.914387 # Actual altitude: 54.914387 # Commanded vehicle depth: 1221.511043 # Seafloor depth: -1274.462164 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293683 meters # Minimum depth: 1269.366332 meters looking forward 200.000000 meters along route # Maximum depth: 1273.851550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.366332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392783; longitude = -122.284371; duration = 200; initialDepth = 1218.585394; finalDepth = 1219.366332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9511210000001 # Actual altitude: 52.9511210000001 # Commanded vehicle depth: 1219.366332 # Seafloor depth: -1272.048957 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293798 meters # Minimum depth: 1268.585394 meters looking forward 200.000000 meters along route # Maximum depth: 1270.369837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.585394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392706; longitude = -122.283257; duration = 200; initialDepth = 1218.585394; finalDepth = 1218.585394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6826249999999 # Actual altitude: 52.6826249999999 # Commanded vehicle depth: 1218.585394 # Seafloor depth: -1269.690891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.293912 meters # Minimum depth: 1268.585394 meters looking forward 200.000000 meters along route # Maximum depth: 1271.910598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.585394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392628; longitude = -122.282143; duration = 200; initialDepth = 1219.160133; finalDepth = 1218.585394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.105497 # Actual altitude: 51.105497 # Commanded vehicle depth: 1218.585394 # Seafloor depth: -1269.153282 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 103.637163 meters # Minimum depth: 1269.160133 meters looking forward 200.000000 meters along route # Maximum depth: 1276.834784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1219.160133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392551; longitude = -122.281028; duration = 207; initialDepth = 1217.960026; finalDepth = 1219.160133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.8514699999998 # Actual altitude: 53.8514699999998 # Commanded vehicle depth: 1219.160133 # Seafloor depth: -1273.011603 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 152.933937 meters # Minimum depth: 1267.960026 meters looking forward 200.000000 meters along route # Maximum depth: 1276.834784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1217.960026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.392471; longitude = -122.279877; duration = 305; # abortOnTimeout = True; initialDepth = 1214.518591; finalDepth = 1217.960026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.6556969999999 # Actual altitude: 58.6556969999999 # Commanded vehicle depth: 1217.960026 # Seafloor depth: -1276.615723 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 93.608422 meters # Minimum depth: 1264.518591 meters looking forward 200.000000 meters along route # Maximum depth: 1273.661979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1214.518591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393823; longitude = -122.279543; duration = 187; # abortOnTimeout = True; initialDepth = 1207.556778; finalDepth = 1214.518591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.6556969999999 # Actual altitude: 58.6556969999999 # Commanded vehicle depth: 1214.518591 # Seafloor depth: -1267.708903 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.510314 meters # Minimum depth: 1257.556778 meters looking forward 200.000000 meters along route # Maximum depth: 1267.960026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1207.556778 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393896; longitude = -122.280583; duration = 201; initialDepth = 1204.078327; finalDepth = 1207.556778; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.025658 # Actual altitude: 56.025658 # Commanded vehicle depth: 1207.556778 # Seafloor depth: -1263.582436 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.078824 meters # Minimum depth: 1254.078327 meters looking forward 200.000000 meters along route # Maximum depth: 1262.427421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.078327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.393973; longitude = -122.281699; duration = 200; initialDepth = 1204.078327; finalDepth = 1204.078327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.025658 # Actual altitude: 56.025658 # Commanded vehicle depth: 1204.078327 # Seafloor depth: -1257.541583 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.294397 meters # Minimum depth: 1254.078327 meters looking forward 200.000000 meters along route # Maximum depth: 1259.720472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1204.078327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394051; longitude = -122.282811; duration = 200; initialDepth = 1206.310643; finalDepth = 1204.078327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.463256 # Actual altitude: 53.463256 # Commanded vehicle depth: 1204.078327 # Seafloor depth: -1256.852546 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.294282 meters # Minimum depth: 1256.310643 meters looking forward 200.000000 meters along route # Maximum depth: 1261.848814 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1206.310643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394128; longitude = -122.283925; duration = 200; initialDepth = 1209.325266; finalDepth = 1206.310643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7742190000001 # Actual altitude: 52.7742190000001 # Commanded vehicle depth: 1206.310643 # Seafloor depth: -1257.936461 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.294168 meters # Minimum depth: 1259.325266 meters looking forward 200.000000 meters along route # Maximum depth: 1267.288050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1209.325266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394206; longitude = -122.285040; duration = 200; initialDepth = 1212.994562; finalDepth = 1209.325266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8910819999999 # Actual altitude: 52.8910819999999 # Commanded vehicle depth: 1209.325266 # Seafloor depth: -1262.216348 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.294052 meters # Minimum depth: 1262.994562 meters looking forward 200.000000 meters along route # Maximum depth: 1271.534344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.994562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394284; longitude = -122.286154; duration = 200; initialDepth = 1218.411955; finalDepth = 1212.994562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9246579999999 # Actual altitude: 56.9246579999999 # Commanded vehicle depth: 1212.994562 # Seafloor depth: -1269.919220 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293938 meters # Minimum depth: 1268.411955 meters looking forward 200.000000 meters along route # Maximum depth: 1274.843273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1218.411955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394361; longitude = -122.287268; duration = 200; initialDepth = 1203.479209; finalDepth = 1218.411955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9246579999999 # Actual altitude: 56.9246579999999 # Commanded vehicle depth: 1218.411955 # Seafloor depth: -1271.656500 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293823 meters # Minimum depth: 1253.479209 meters looking forward 200.000000 meters along route # Maximum depth: 1274.843273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.479209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394439; longitude = -122.288382; duration = 200; initialDepth = 1150.977208; finalDepth = 1203.479209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7618499999999 # Actual altitude: 69.7618499999999 # Commanded vehicle depth: 1203.479209 # Seafloor depth: -1273.241059 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293708 meters # Minimum depth: 1200.977208 meters looking forward 200.000000 meters along route # Maximum depth: 1271.904182 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1150.977208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394516; longitude = -122.289496; duration = 200; initialDepth = 1067.338378; finalDepth = 1150.977208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.279823 # Actual altitude: 100 # Commanded vehicle depth: 1150.977208 # Seafloor depth: -1252.257031 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293594 meters # Minimum depth: 1117.338378 meters looking forward 200.000000 meters along route # Maximum depth: 1250.055739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1067.338378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394594; longitude = -122.290611; duration = 200; initialDepth = 984.933545; finalDepth = 1067.338378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.715363 # Actual altitude: 100 # Commanded vehicle depth: 1067.338378 # Seafloor depth: -1193.053741 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293479 meters # Minimum depth: 1034.933545 meters looking forward 200.000000 meters along route # Maximum depth: 1180.946217 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 984.933545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394672; longitude = -122.291725; duration = 200; initialDepth = 927.067744; finalDepth = 984.933545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.715363 # Actual altitude: 100 # Commanded vehicle depth: 984.933545 # Seafloor depth: -1107.834254 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293364 meters # Minimum depth: 977.067744 meters looking forward 200.000000 meters along route # Maximum depth: 1099.893490 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 927.067744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394749; longitude = -122.292839; duration = 200; initialDepth = 920.409270; finalDepth = 927.067744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.900709 # Actual altitude: 100 # Commanded vehicle depth: 927.067744 # Seafloor depth: -1027.283297 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293250 meters # Minimum depth: 970.409270 meters looking forward 200.000000 meters along route # Maximum depth: 1013.141972 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.409270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394827; longitude = -122.293953; duration = 200; initialDepth = 920.409270; finalDepth = 920.409270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.215553 # Actual altitude: 100 # Commanded vehicle depth: 920.40927 # Seafloor depth: -975.301941 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293135 meters # Minimum depth: 970.409270 meters looking forward 200.000000 meters along route # Maximum depth: 997.438488 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.409270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394904; longitude = -122.295067; duration = 200; initialDepth = 936.291890; finalDepth = 920.409270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.875136 # Actual altitude: 63.875136 # Commanded vehicle depth: 920.40927 # Seafloor depth: -984.284406 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.293020 meters # Minimum depth: 986.291890 meters looking forward 200.000000 meters along route # Maximum depth: 1002.429036 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 936.291890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.394982; longitude = -122.296182; duration = 200; initialDepth = 925.890408; finalDepth = 936.291890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.875136 # Actual altitude: 63.875136 # Commanded vehicle depth: 936.29189 # Seafloor depth: -996.970110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292906 meters # Minimum depth: 975.890408 meters looking forward 200.000000 meters along route # Maximum depth: 1002.429036 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.890408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395060; longitude = -122.297296; duration = 200; initialDepth = 881.390741; finalDepth = 925.890408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.918981 # Actual altitude: 67.918981 # Commanded vehicle depth: 925.890408 # Seafloor depth: -993.809389 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292792 meters # Minimum depth: 931.390741 meters looking forward 200.000000 meters along route # Maximum depth: 990.873825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.390741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395137; longitude = -122.298410; duration = 200; initialDepth = 824.828776; finalDepth = 881.390741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.6827229999999 # Actual altitude: 91.6827229999999 # Commanded vehicle depth: 881.390741 # Seafloor depth: -973.073464 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292677 meters # Minimum depth: 874.828776 meters looking forward 200.000000 meters along route # Maximum depth: 970.157510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.828776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395215; longitude = -122.299524; duration = 200; initialDepth = 812.459393; finalDepth = 824.828776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.120724 # Actual altitude: 98.120724 # Commanded vehicle depth: 824.828776 # Seafloor depth: -922.949500 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292562 meters # Minimum depth: 862.459393 meters looking forward 200.000000 meters along route # Maximum depth: 918.702210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 812.459393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395293; longitude = -122.300638; duration = 200; initialDepth = 810.467216; finalDepth = 812.459393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.120724 # Actual altitude: 98.120724 # Commanded vehicle depth: 812.459393 # Seafloor depth: -873.893601 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292448 meters # Minimum depth: 860.467216 meters looking forward 200.000000 meters along route # Maximum depth: 872.550482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.467216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395370; longitude = -122.301753; duration = 200; initialDepth = 810.467216; finalDepth = 810.467216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.434208 # Actual altitude: 61.434208 # Commanded vehicle depth: 810.467216 # Seafloor depth: -862.552368 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292334 meters # Minimum depth: 860.467216 meters looking forward 200.000000 meters along route # Maximum depth: 868.364021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 810.467216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395448; longitude = -122.302867; duration = 200; initialDepth = 811.890051; finalDepth = 810.467216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.085152 # Actual altitude: 52.085152 # Commanded vehicle depth: 810.467216 # Seafloor depth: -861.491615 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292219 meters # Minimum depth: 861.890051 meters looking forward 200.000000 meters along route # Maximum depth: 869.861846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.890051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395525; longitude = -122.303981; duration = 200; initialDepth = 817.483650; finalDepth = 811.890051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.904397 # Actual altitude: 56.904397 # Commanded vehicle depth: 811.890051 # Seafloor depth: -868.794448 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.292105 meters # Minimum depth: 867.483650 meters looking forward 200.000000 meters along route # Maximum depth: 879.515442 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 817.483650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395603; longitude = -122.305095; duration = 200; initialDepth = 820.076536; finalDepth = 817.483650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.904397 # Actual altitude: 56.904397 # Commanded vehicle depth: 817.48365 # Seafloor depth: -869.858313 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291991 meters # Minimum depth: 870.076536 meters looking forward 200.000000 meters along route # Maximum depth: 889.740544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.076536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395681; longitude = -122.306210; duration = 200; initialDepth = 829.979937; finalDepth = 820.076536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.508018 # Actual altitude: 60.508018 # Commanded vehicle depth: 820.076536 # Seafloor depth: -880.584554 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291876 meters # Minimum depth: 879.979937 meters looking forward 200.000000 meters along route # Maximum depth: 909.265064 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.979937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395758; longitude = -122.307324; duration = 200; initialDepth = 844.241490; finalDepth = 829.979937; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.73198 # Actual altitude: 61.73198 # Commanded vehicle depth: 829.979937 # Seafloor depth: -891.711917 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291762 meters # Minimum depth: 894.241490 meters looking forward 200.000000 meters along route # Maximum depth: 925.212707 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 844.241490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395836; longitude = -122.308438; duration = 200; initialDepth = 864.153092; finalDepth = 844.241490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.5063249999999 # Actual altitude: 67.5063249999999 # Commanded vehicle depth: 844.24149 # Seafloor depth: -911.747815 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291648 meters # Minimum depth: 914.153092 meters looking forward 200.000000 meters along route # Maximum depth: 929.114236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.153092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395913; longitude = -122.309552; duration = 200; initialDepth = 875.793490; finalDepth = 864.153092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.5063249999999 # Actual altitude: 67.5063249999999 # Commanded vehicle depth: 864.153092 # Seafloor depth: -926.716146 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291533 meters # Minimum depth: 925.793490 meters looking forward 200.000000 meters along route # Maximum depth: 929.737941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.793490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395991; longitude = -122.310666; duration = 200; initialDepth = 876.769813; finalDepth = 875.793490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.563054 # Actual altitude: 62.563054 # Commanded vehicle depth: 875.79349 # Seafloor depth: -929.460532 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.77; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291419 meters # Minimum depth: 926.769813 meters looking forward 200.000000 meters along route # Maximum depth: 950.857383 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.769813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396069; longitude = -122.311781; duration = 200; initialDepth = 882.089515; finalDepth = 876.769813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6670419999999 # Actual altitude: 53.6670419999999 # Commanded vehicle depth: 876.769813 # Seafloor depth: -929.318816 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291305 meters # Minimum depth: 932.089515 meters looking forward 200.000000 meters along route # Maximum depth: 965.682255 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.089515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396146; longitude = -122.312895; duration = 200; initialDepth = 902.417860; finalDepth = 882.089515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.656449 # Actual altitude: 69.656449 # Commanded vehicle depth: 882.089515 # Seafloor depth: -951.745964 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291191 meters # Minimum depth: 952.417860 meters looking forward 200.000000 meters along route # Maximum depth: 973.880411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.417860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396224; longitude = -122.314009; duration = 200; initialDepth = 919.390751; finalDepth = 902.417860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.656449 # Actual altitude: 69.656449 # Commanded vehicle depth: 902.41786 # Seafloor depth: -969.311719 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.291077 meters # Minimum depth: 969.390751 meters looking forward 200.000000 meters along route # Maximum depth: 996.704391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.390751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396301; longitude = -122.315123; duration = 200; initialDepth = 929.699356; finalDepth = 919.390751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.893859 # Actual altitude: 66.893859 # Commanded vehicle depth: 919.390751 # Seafloor depth: -977.774291 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.290963 meters # Minimum depth: 979.699356 meters looking forward 200.000000 meters along route # Maximum depth: 1010.091381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.699356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396379; longitude = -122.316237; duration = 200; initialDepth = 948.949559; finalDepth = 929.699356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.978873 # Actual altitude: 67.978873 # Commanded vehicle depth: 929.699356 # Seafloor depth: -997.678229 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.290848 meters # Minimum depth: 998.949559 meters looking forward 200.000000 meters along route # Maximum depth: 1026.667661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.949559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396457; longitude = -122.317352; duration = 200; initialDepth = 961.511216; finalDepth = 948.949559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.978873 # Actual altitude: 67.978873 # Commanded vehicle depth: 948.949559 # Seafloor depth: -1010.800752 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 106.976779 meters # Minimum depth: 1011.511216 meters looking forward 200.000000 meters along route # Maximum depth: 1038.822946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.511216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396534; longitude = -122.318466; duration = 213; initialDepth = 985.774971; finalDepth = 961.511216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.415781 # Actual altitude: 67.415781 # Commanded vehicle depth: 961.511216 # Seafloor depth: -1028.926997 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 147.120904 meters # Minimum depth: 1035.774971 meters looking forward 200.000000 meters along route # Maximum depth: 1054.012082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.774971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396617; longitude = -122.319654; duration = 294; # abortOnTimeout = True; initialDepth = 992.297124; finalDepth = 985.774971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.415781 # Actual altitude: 67.415781 # Commanded vehicle depth: 985.774971 # Seafloor depth: -1039.534098 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 83.583230 meters # Minimum depth: 1042.297124 meters looking forward 200.000000 meters along route # Maximum depth: 1054.887044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 992.297124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397909; longitude = -122.319283; duration = 167; # abortOnTimeout = True; initialDepth = 980.804107; finalDepth = 992.297124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5899200000001 # Actual altitude: 62.5899200000001 # Commanded vehicle depth: 992.297124 # Seafloor depth: -1054.887044 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.299982 meters # Minimum depth: 1030.804107 meters looking forward 200.000000 meters along route # Maximum depth: 1054.887044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 980.804107 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397843; longitude = -122.318354; duration = 200; initialDepth = 965.082060; finalDepth = 980.804107; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.5899200000001 # Actual altitude: 62.5899200000001 # Commanded vehicle depth: 980.804107 # Seafloor depth: -1041.880838 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300098 meters # Minimum depth: 1015.082060 meters looking forward 200.000000 meters along route # Maximum depth: 1040.847482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 965.082060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397765; longitude = -122.317240; duration = 200; initialDepth = 949.977027; finalDepth = 965.082060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.813778 # Actual altitude: 62.813778 # Commanded vehicle depth: 965.08206 # Seafloor depth: -1027.895838 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300213 meters # Minimum depth: 999.977027 meters looking forward 200.000000 meters along route # Maximum depth: 1025.891124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 949.977027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397686; longitude = -122.316126; duration = 200; initialDepth = 931.247662; finalDepth = 949.977027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.596313 # Actual altitude: 63.596313 # Commanded vehicle depth: 949.977027 # Seafloor depth: -1013.573340 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300329 meters # Minimum depth: 981.247662 meters looking forward 200.000000 meters along route # Maximum depth: 1011.820632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.247662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397607; longitude = -122.315012; duration = 200; initialDepth = 915.792446; finalDepth = 931.247662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.775442 # Actual altitude: 68.775442 # Commanded vehicle depth: 931.247662 # Seafloor depth: -1000.023104 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300444 meters # Minimum depth: 965.792446 meters looking forward 200.000000 meters along route # Maximum depth: 999.613702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.792446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397528; longitude = -122.313898; duration = 200; initialDepth = 901.723386; finalDepth = 915.792446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.775442 # Actual altitude: 68.775442 # Commanded vehicle depth: 915.792446 # Seafloor depth: -980.001539 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300560 meters # Minimum depth: 951.723386 meters looking forward 200.000000 meters along route # Maximum depth: 978.098208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 901.723386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397450; longitude = -122.312783; duration = 200; initialDepth = 889.163075; finalDepth = 901.723386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2090929999999 # Actual altitude: 64.2090929999999 # Commanded vehicle depth: 901.723386 # Seafloor depth: -964.641054 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300676 meters # Minimum depth: 939.163075 meters looking forward 200.000000 meters along route # Maximum depth: 963.470957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.163075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397371; longitude = -122.311669; duration = 200; initialDepth = 886.660980; finalDepth = 889.163075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.917668 # Actual altitude: 62.917668 # Commanded vehicle depth: 889.163075 # Seafloor depth: -950.658704 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300792 meters # Minimum depth: 936.660980 meters looking forward 200.000000 meters along route # Maximum depth: 949.337011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.660980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397292; longitude = -122.310555; duration = 200; initialDepth = 880.140671; finalDepth = 886.660980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4956289999999 # Actual altitude: 61.4956289999999 # Commanded vehicle depth: 886.66098 # Seafloor depth: -941.012409 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.300907 meters # Minimum depth: 930.140671 meters looking forward 200.000000 meters along route # Maximum depth: 939.672877 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.140671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397213; longitude = -122.309441; duration = 200; initialDepth = 857.469200; finalDepth = 880.140671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.96209 # Actual altitude: 57.96209 # Commanded vehicle depth: 880.140671 # Seafloor depth: -938.102761 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301023 meters # Minimum depth: 907.469200 meters looking forward 200.000000 meters along route # Maximum depth: 937.899425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.469200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397135; longitude = -122.308326; duration = 200; initialDepth = 840.669141; finalDepth = 857.469200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.7913569999999 # Actual altitude: 70.7913569999999 # Commanded vehicle depth: 857.4692 # Seafloor depth: -928.260557 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301138 meters # Minimum depth: 890.669141 meters looking forward 200.000000 meters along route # Maximum depth: 925.782081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.669141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397056; longitude = -122.307212; duration = 200; initialDepth = 827.547538; finalDepth = 840.669141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.7913569999999 # Actual altitude: 70.7913569999999 # Commanded vehicle depth: 840.669141 # Seafloor depth: -905.476301 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301254 meters # Minimum depth: 877.547538 meters looking forward 200.000000 meters along route # Maximum depth: 903.422238 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.547538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396977; longitude = -122.306098; duration = 200; initialDepth = 826.294334; finalDepth = 827.547538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8071600000001 # Actual altitude: 64.8071600000001 # Commanded vehicle depth: 827.547538 # Seafloor depth: -888.646695 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301371 meters # Minimum depth: 876.294334 meters looking forward 200.000000 meters along route # Maximum depth: 887.995006 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.294334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396898; longitude = -122.304984; duration = 200; initialDepth = 825.622890; finalDepth = 826.294334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.099157 # Actual altitude: 61.099157 # Commanded vehicle depth: 826.294334 # Seafloor depth: -877.608886 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301486 meters # Minimum depth: 875.622890 meters looking forward 200.000000 meters along route # Maximum depth: 877.462553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 825.622890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396820; longitude = -122.303870; duration = 200; initialDepth = 821.068479; finalDepth = 825.622890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.364053 # Actual altitude: 51.364053 # Commanded vehicle depth: 825.62289 # Seafloor depth: -876.986943 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301601 meters # Minimum depth: 871.068479 meters looking forward 200.000000 meters along route # Maximum depth: 876.415747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.068479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396741; longitude = -122.302755; duration = 200; initialDepth = 820.177982; finalDepth = 821.068479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.129011 # Actual altitude: 54.129011 # Commanded vehicle depth: 821.068479 # Seafloor depth: -875.197490 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301718 meters # Minimum depth: 870.177982 meters looking forward 200.000000 meters along route # Maximum depth: 877.600656 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.177982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396662; longitude = -122.301641; duration = 200; initialDepth = 820.177982; finalDepth = 820.177982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.129011 # Actual altitude: 54.129011 # Commanded vehicle depth: 820.177982 # Seafloor depth: -870.222520 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301834 meters # Minimum depth: 870.177982 meters looking forward 200.000000 meters along route # Maximum depth: 888.942953 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.177982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396584; longitude = -122.300527; duration = 200; initialDepth = 829.577388; finalDepth = 820.177982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.980456 # Actual altitude: 57.980456 # Commanded vehicle depth: 820.177982 # Seafloor depth: -878.158438 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.301949 meters # Minimum depth: 879.577388 meters looking forward 200.000000 meters along route # Maximum depth: 912.364269 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 829.577388 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396505; longitude = -122.299413; duration = 200; initialDepth = 839.095642; finalDepth = 829.577388; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0454999999999 # Actual altitude: 59.0454999999999 # Commanded vehicle depth: 829.577388 # Seafloor depth: -888.622888 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302066 meters # Minimum depth: 889.095642 meters looking forward 200.000000 meters along route # Maximum depth: 926.066515 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.095642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396426; longitude = -122.298299; duration = 200; initialDepth = 865.234465; finalDepth = 839.095642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.963351 # Actual altitude: 75.963351 # Commanded vehicle depth: 839.095642 # Seafloor depth: -915.058993 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302181 meters # Minimum depth: 915.234465 meters looking forward 200.000000 meters along route # Maximum depth: 931.189837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.234465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396347; longitude = -122.297184; duration = 200; initialDepth = 875.797034; finalDepth = 865.234465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.963351 # Actual altitude: 75.963351 # Commanded vehicle depth: 865.234465 # Seafloor depth: -926.996096 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302297 meters # Minimum depth: 925.797034 meters looking forward 200.000000 meters along route # Maximum depth: 936.403520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 875.797034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396269; longitude = -122.296070; duration = 200; initialDepth = 881.053915; finalDepth = 875.797034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.761631 # Actual altitude: 61.761631 # Commanded vehicle depth: 875.797034 # Seafloor depth: -929.372096 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302414 meters # Minimum depth: 931.053915 meters looking forward 200.000000 meters along route # Maximum depth: 936.403520 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.053915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396190; longitude = -122.294956; duration = 200; initialDepth = 881.053915; finalDepth = 881.053915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.286953 # Actual altitude: 54.286953 # Commanded vehicle depth: 881.053915 # Seafloor depth: -935.340868 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302529 meters # Minimum depth: 931.053915 meters looking forward 200.000000 meters along route # Maximum depth: 1000.122305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.053915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396111; longitude = -122.293842; duration = 200; initialDepth = 892.120368; finalDepth = 881.053915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8075630000001 # Actual altitude: 58.8075630000001 # Commanded vehicle depth: 881.053915 # Seafloor depth: -939.861478 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302646 meters # Minimum depth: 942.120368 meters looking forward 200.000000 meters along route # Maximum depth: 1083.367998 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.120368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396032; longitude = -122.292728; duration = 200; initialDepth = 960.615032; finalDepth = 892.120368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.789047 # Actual altitude: 100 # Commanded vehicle depth: 892.120368 # Seafloor depth: -1006.909415 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302762 meters # Minimum depth: 1010.615032 meters looking forward 200.000000 meters along route # Maximum depth: 1146.281831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 960.615032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395954; longitude = -122.291613; duration = 200; initialDepth = 1033.489253; finalDepth = 960.615032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 123.080803 # Actual altitude: 100 # Commanded vehicle depth: 960.615032 # Seafloor depth: -1083.695835 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302877 meters # Minimum depth: 1089.872328 meters looking forward 200.000000 meters along route # Maximum depth: 1210.818214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1033.489253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395875; longitude = -122.290499; duration = 200; initialDepth = 1106.363557; finalDepth = 1033.489253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 123.080803 # Actual altitude: 100 # Commanded vehicle depth: 1033.48925262688 # Seafloor depth: -1155.359223 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.302994 meters # Minimum depth: 1158.153593 meters looking forward 200.000000 meters along route # Maximum depth: 1260.801940 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1106.363557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395796; longitude = -122.289385; duration = 200; initialDepth = 1170.365962; finalDepth = 1106.363557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 121.869970373117 # Actual altitude: 100 # Commanded vehicle depth: 1106.36355680615 # Seafloor depth: -1217.669581 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.303110 meters # Minimum depth: 1220.365962 meters looking forward 200.000000 meters along route # Maximum depth: 1269.038031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.365962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395717; longitude = -122.288271; duration = 200; initialDepth = 1212.466658; finalDepth = 1170.365962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.306024193845 # Actual altitude: 100 # Commanded vehicle depth: 1170.365962 # Seafloor depth: -1261.866119 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.303227 meters # Minimum depth: 1262.466658 meters looking forward 200.000000 meters along route # Maximum depth: 1269.038031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1212.466658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395639; longitude = -122.287157; duration = 200; initialDepth = 1205.947205; finalDepth = 1212.466658; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.5001569999999 # Actual altitude: 91.5001569999999 # Commanded vehicle depth: 1212.466658 # Seafloor depth: -1266.445188 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.303342 meters # Minimum depth: 1255.947205 meters looking forward 200.000000 meters along route # Maximum depth: 1266.831233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1205.947205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395560; longitude = -122.286042; duration = 200; initialDepth = 1196.683390; finalDepth = 1205.947205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6621070000001 # Actual altitude: 55.6621070000001 # Commanded vehicle depth: 1205.947205 # Seafloor depth: -1261.609312 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.303459 meters # Minimum depth: 1246.683390 meters looking forward 200.000000 meters along route # Maximum depth: 1261.190956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1196.683390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395481; longitude = -122.284928; duration = 200; initialDepth = 1193.390056; finalDepth = 1196.683390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.29387 # Actual altitude: 58.29387 # Commanded vehicle depth: 1196.68339 # Seafloor depth: -1254.977260 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.303575 meters # Minimum depth: 1243.390056 meters looking forward 200.000000 meters along route # Maximum depth: 1252.801424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.390056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395402; longitude = -122.283814; duration = 200; initialDepth = 1193.355921; finalDepth = 1193.390056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.29387 # Actual altitude: 58.29387 # Commanded vehicle depth: 1193.390056 # Seafloor depth: -1245.743850 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.303691 meters # Minimum depth: 1243.355921 meters looking forward 200.000000 meters along route # Maximum depth: 1247.530335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1193.355921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395324; longitude = -122.282700; duration = 200; initialDepth = 1194.651540; finalDepth = 1193.355921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3537940000001 # Actual altitude: 52.3537940000001 # Commanded vehicle depth: 1193.355921 # Seafloor depth: -1243.355921 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.303808 meters # Minimum depth: 1244.651540 meters looking forward 200.000000 meters along route # Maximum depth: 1254.409675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1194.651540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395245; longitude = -122.281585; duration = 200; initialDepth = 1197.516671; finalDepth = 1194.651540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.793555 # Actual altitude: 52.793555 # Commanded vehicle depth: 1194.65154 # Seafloor depth: -1247.445095 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 103.647390 meters # Minimum depth: 1247.516671 meters looking forward 200.000000 meters along route # Maximum depth: 1259.770112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.516671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395166; longitude = -122.280471; duration = 207; initialDepth = 1203.699479; finalDepth = 1197.516671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.4552119999998 # Actual altitude: 58.4552119999998 # Commanded vehicle depth: 1197.516671 # Seafloor depth: -1255.971883 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 150.299690 meters # Minimum depth: 1253.699479 meters looking forward 200.000000 meters along route # Maximum depth: 1259.813281 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.699479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.395085; longitude = -122.279320; duration = 300; # abortOnTimeout = True; initialDepth = 1191.915588; finalDepth = 1203.699479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.4552119999998 # Actual altitude: 58.4552119999998 # Commanded vehicle depth: 1203.699479 # Seafloor depth: -1259.794596 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 153.822645 meters # Minimum depth: 1241.915588 meters looking forward 200.000000 meters along route # Maximum depth: 1255.205637 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1191.915588 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396437; longitude = -122.279208; duration = 307; # abortOnTimeout = True; initialDepth = 1186.198226; finalDepth = 1191.915588; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.83311 # Actual altitude: 61.83311 # Commanded vehicle depth: 1191.915588 # Seafloor depth: -1253.748698 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.318966 meters # Minimum depth: 1236.198226 meters looking forward 200.000000 meters along route # Maximum depth: 1248.956380 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1186.198226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396560; longitude = -122.280917; duration = 200; initialDepth = 1181.675944; finalDepth = 1186.198226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.83311 # Actual altitude: 61.83311 # Commanded vehicle depth: 1186.198226 # Seafloor depth: -1241.399312 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318847 meters # Minimum depth: 1231.675944 meters looking forward 200.000000 meters along route # Maximum depth: 1242.125977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.675944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396641; longitude = -122.282031; duration = 200; initialDepth = 1181.675944; finalDepth = 1181.675944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.201086 # Actual altitude: 55.201086 # Commanded vehicle depth: 1181.675944 # Seafloor depth: -1235.689825 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318729 meters # Minimum depth: 1231.675944 meters looking forward 200.000000 meters along route # Maximum depth: 1235.633224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1181.675944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396721; longitude = -122.283145; duration = 200; initialDepth = 1182.851807; finalDepth = 1181.675944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0138809999999 # Actual altitude: 54.0138809999999 # Commanded vehicle depth: 1181.675944 # Seafloor depth: -1233.072024 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318610 meters # Minimum depth: 1232.851807 meters looking forward 200.000000 meters along route # Maximum depth: 1250.695917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1182.851807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396802; longitude = -122.284260; duration = 200; initialDepth = 1188.216275; finalDepth = 1182.851807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.692092 # Actual altitude: 54.692092 # Commanded vehicle depth: 1182.851807 # Seafloor depth: -1237.543899 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318492 meters # Minimum depth: 1238.216275 meters looking forward 200.000000 meters along route # Maximum depth: 1257.804734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1188.216275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396882; longitude = -122.285374; duration = 200; initialDepth = 1200.432210; finalDepth = 1188.216275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.215371 # Actual altitude: 63.215371 # Commanded vehicle depth: 1188.216275 # Seafloor depth: -1251.431646 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318374 meters # Minimum depth: 1250.432210 meters looking forward 200.000000 meters along route # Maximum depth: 1259.032918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1200.432210 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.396963; longitude = -122.286488; duration = 200; initialDepth = 1126.483596; finalDepth = 1200.432210; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.215371 # Actual altitude: 63.215371 # Commanded vehicle depth: 1200.43221 # Seafloor depth: -1258.711446 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318255 meters # Minimum depth: 1176.483596 meters looking forward 200.000000 meters along route # Maximum depth: 1259.032918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1126.483596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397043; longitude = -122.287602; duration = 200; initialDepth = 1081.037016; finalDepth = 1126.483596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.658783 # Actual altitude: 100 # Commanded vehicle depth: 1126.483596 # Seafloor depth: -1249.142379 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318137 meters # Minimum depth: 1131.037016 meters looking forward 200.000000 meters along route # Maximum depth: 1244.777504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1081.037016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397124; longitude = -122.288716; duration = 200; initialDepth = 1036.826800; finalDepth = 1081.037016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 122.658783 # Actual altitude: 100 # Commanded vehicle depth: 1081.037016 # Seafloor depth: -1171.931803 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.318018 meters # Minimum depth: 1086.826800 meters looking forward 200.000000 meters along route # Maximum depth: 1168.792969 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1036.826800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397204; longitude = -122.289831; duration = 200; initialDepth = 982.448196; finalDepth = 1036.826800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.894787 # Actual altitude: 90.894787 # Commanded vehicle depth: 1036.8268 # Seafloor depth: -1124.424702 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317901 meters # Minimum depth: 1032.448196 meters looking forward 200.000000 meters along route # Maximum depth: 1117.379232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 982.448196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397284; longitude = -122.290945; duration = 200; initialDepth = 904.644289; finalDepth = 982.448196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.7410479999999 # Actual altitude: 94.7410479999999 # Commanded vehicle depth: 982.448196 # Seafloor depth: -1077.189244 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317781 meters # Minimum depth: 954.644289 meters looking forward 200.000000 meters along route # Maximum depth: 1075.590837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.644289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397365; longitude = -122.292059; duration = 200; initialDepth = 839.137386; finalDepth = 904.644289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.141239 # Actual altitude: 100 # Commanded vehicle depth: 904.644289 # Seafloor depth: -1023.785528 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317664 meters # Minimum depth: 889.137386 meters looking forward 200.000000 meters along route # Maximum depth: 1014.048456 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.137386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397445; longitude = -122.293173; duration = 200; initialDepth = 820.304149; finalDepth = 839.137386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 119.141239 # Actual altitude: 100 # Commanded vehicle depth: 839.137386 # Seafloor depth: -948.613938 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317545 meters # Minimum depth: 870.304149 meters looking forward 200.000000 meters along route # Maximum depth: 939.565410 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.304149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397526; longitude = -122.294287; duration = 200; initialDepth = 820.107721; finalDepth = 820.304149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 109.476552 # Actual altitude: 100 # Commanded vehicle depth: 820.304149 # Seafloor depth: -885.903234 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317428 meters # Minimum depth: 870.107721 meters looking forward 200.000000 meters along route # Maximum depth: 884.690582 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 820.107721 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397606; longitude = -122.295402; duration = 200; initialDepth = 821.533157; finalDepth = 820.107721; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5990849999999 # Actual altitude: 65.5990849999999 # Commanded vehicle depth: 820.107721 # Seafloor depth: -870.107721 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317309 meters # Minimum depth: 871.533157 meters looking forward 200.000000 meters along route # Maximum depth: 882.838888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 821.533157 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397687; longitude = -122.296516; duration = 200; initialDepth = 824.978068; finalDepth = 821.533157; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.765435 # Actual altitude: 52.765435 # Commanded vehicle depth: 821.533157 # Seafloor depth: -874.298592 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317191 meters # Minimum depth: 874.978068 meters looking forward 200.000000 meters along route # Maximum depth: 885.412939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 824.978068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397767; longitude = -122.297630; duration = 200; initialDepth = 832.707397; finalDepth = 824.978068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.292951 # Actual altitude: 58.292951 # Commanded vehicle depth: 824.978068 # Seafloor depth: -883.271019 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.317072 meters # Minimum depth: 882.707397 meters looking forward 200.000000 meters along route # Maximum depth: 885.532364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.707397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397848; longitude = -122.298744; duration = 200; initialDepth = 832.389044; finalDepth = 832.707397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.292951 # Actual altitude: 58.292951 # Commanded vehicle depth: 832.707397 # Seafloor depth: -885.532364 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316955 meters # Minimum depth: 882.389044 meters looking forward 200.000000 meters along route # Maximum depth: 885.519531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 832.389044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397928; longitude = -122.299859; duration = 200; initialDepth = 831.973124; finalDepth = 832.389044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.824967 # Actual altitude: 52.824967 # Commanded vehicle depth: 832.389044 # Seafloor depth: -883.657644 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316836 meters # Minimum depth: 881.973124 meters looking forward 200.000000 meters along route # Maximum depth: 883.669916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 831.973124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398009; longitude = -122.300973; duration = 200; initialDepth = 830.928655; finalDepth = 831.973124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2686 # Actual altitude: 51.2686 # Commanded vehicle depth: 831.973124 # Seafloor depth: -882.410999 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316719 meters # Minimum depth: 880.928655 meters looking forward 200.000000 meters along route # Maximum depth: 882.937650 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.928655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398089; longitude = -122.302087; duration = 200; initialDepth = 830.928655; finalDepth = 830.928655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.437875 # Actual altitude: 50.437875 # Commanded vehicle depth: 830.928655 # Seafloor depth: -881.347453 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316600 meters # Minimum depth: 880.928655 meters looking forward 200.000000 meters along route # Maximum depth: 884.039989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.928655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398170; longitude = -122.303201; duration = 200; initialDepth = 831.894955; finalDepth = 830.928655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5985959999999 # Actual altitude: 50.5985959999999 # Commanded vehicle depth: 830.928655 # Seafloor depth: -881.527251 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316483 meters # Minimum depth: 881.894955 meters looking forward 200.000000 meters along route # Maximum depth: 895.687105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 831.894955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398250; longitude = -122.304315; duration = 200; initialDepth = 835.929944; finalDepth = 831.894955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.368393 # Actual altitude: 53.368393 # Commanded vehicle depth: 831.894955 # Seafloor depth: -885.263348 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316364 meters # Minimum depth: 885.929944 meters looking forward 200.000000 meters along route # Maximum depth: 909.009031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 835.929944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398331; longitude = -122.305430; duration = 200; initialDepth = 848.223691; finalDepth = 835.929944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.64331 # Actual altitude: 60.64331 # Commanded vehicle depth: 835.929944 # Seafloor depth: -896.573254 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316247 meters # Minimum depth: 898.223691 meters looking forward 200.000000 meters along route # Maximum depth: 922.908854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.223691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398411; longitude = -122.306544; duration = 200; initialDepth = 861.481376; finalDepth = 848.223691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.9173059999999 # Actual altitude: 61.9173059999999 # Commanded vehicle depth: 848.223691 # Seafloor depth: -910.140997 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316128 meters # Minimum depth: 911.481376 meters looking forward 200.000000 meters along route # Maximum depth: 945.902804 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.481376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398492; longitude = -122.307658; duration = 200; initialDepth = 876.437921; finalDepth = 861.481376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.205831 # Actual altitude: 63.205831 # Commanded vehicle depth: 861.481376 # Seafloor depth: -924.687207 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.316011 meters # Minimum depth: 926.437921 meters looking forward 200.000000 meters along route # Maximum depth: 958.482851 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.437921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398572; longitude = -122.308772; duration = 200; initialDepth = 898.145862; finalDepth = 876.437921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2324470000001 # Actual altitude: 70.2324470000001 # Commanded vehicle depth: 876.437921 # Seafloor depth: -946.670368 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.315892 meters # Minimum depth: 948.145862 meters looking forward 200.000000 meters along route # Maximum depth: 971.692399 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.145862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398652; longitude = -122.309886; duration = 200; initialDepth = 911.863021; finalDepth = 898.145862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.2324470000001 # Actual altitude: 70.2324470000001 # Commanded vehicle depth: 898.145862 # Seafloor depth: -960.041341 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.315775 meters # Minimum depth: 961.863021 meters looking forward 200.000000 meters along route # Maximum depth: 983.547870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.863021 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398733; longitude = -122.311001; duration = 200; initialDepth = 924.130651; finalDepth = 911.863021; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.895479 # Actual altitude: 61.895479 # Commanded vehicle depth: 911.863021 # Seafloor depth: -972.582031 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.315657 meters # Minimum depth: 974.130651 meters looking forward 200.000000 meters along route # Maximum depth: 996.993660 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 924.130651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398813; longitude = -122.312115; duration = 200; initialDepth = 934.515532; finalDepth = 924.130651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.71901 # Actual altitude: 60.71901 # Commanded vehicle depth: 924.130651 # Seafloor depth: -983.594169 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.315539 meters # Minimum depth: 984.515532 meters looking forward 200.000000 meters along route # Maximum depth: 1012.262370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.515532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398894; longitude = -122.313229; duration = 200; initialDepth = 948.725958; finalDepth = 934.515532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.306529 # Actual altitude: 63.306529 # Commanded vehicle depth: 934.515532 # Seafloor depth: -997.822061 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 100.315422 meters # Minimum depth: 998.725958 meters looking forward 200.000000 meters along route # Maximum depth: 1024.647769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.725958 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398974; longitude = -122.314343; duration = 200; initialDepth = 966.945940; finalDepth = 948.725958; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.255737 # Actual altitude: 66.255737 # Commanded vehicle depth: 948.725958 # Seafloor depth: -1014.981695 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.002986 meters # Minimum depth: 1016.945940 meters looking forward 200.000000 meters along route # Maximum depth: 1041.899600 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 966.945940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399055; longitude = -122.315457; duration = 214; initialDepth = 985.003385; finalDepth = 966.945940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.255737 # Actual altitude: 66.255737 # Commanded vehicle depth: 966.94594 # Seafloor depth: -1027.784970 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 147.120778 meters # Minimum depth: 1035.003385 meters looking forward 200.000000 meters along route # Maximum depth: 1060.468750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 985.003385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399141; longitude = -122.316646; duration = 294; # abortOnTimeout = True; initialDepth = 991.097340; finalDepth = 985.003385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.83903 # Actual altitude: 60.83903 # Commanded vehicle depth: 985.003385 # Seafloor depth: -1043.055339 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 133.722787 meters # Minimum depth: 1041.097340 meters looking forward 200.000000 meters along route # Maximum depth: 1061.785970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 991.097340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400433; longitude = -122.316275; duration = 267; # abortOnTimeout = True; initialDepth = 976.482437; finalDepth = 991.097340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.6886299999999 # Actual altitude: 70.6886299999999 # Commanded vehicle depth: 991.09734 # Seafloor depth: -1061.785970 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.292225 meters # Minimum depth: 1026.482437 meters looking forward 200.000000 meters along route # Maximum depth: 1055.445367 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.482437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400328; longitude = -122.314789; duration = 200; initialDepth = 962.087972; finalDepth = 976.482437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.6886299999999 # Actual altitude: 70.6886299999999 # Commanded vehicle depth: 976.482437 # Seafloor depth: -1040.246374 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.292339 meters # Minimum depth: 1012.087972 meters looking forward 200.000000 meters along route # Maximum depth: 1040.158009 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.087972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400250; longitude = -122.313675; duration = 200; initialDepth = 947.451775; finalDepth = 962.087972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.7639370000002 # Actual altitude: 63.7639370000002 # Commanded vehicle depth: 962.087972 # Seafloor depth: -1025.773337 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.292455 meters # Minimum depth: 997.451775 meters looking forward 200.000000 meters along route # Maximum depth: 1025.299828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 947.451775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400172; longitude = -122.312560; duration = 200; initialDepth = 935.145793; finalDepth = 947.451775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.685365 # Actual altitude: 63.685365 # Commanded vehicle depth: 947.451775 # Seafloor depth: -1010.086171 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.292569 meters # Minimum depth: 985.145793 meters looking forward 200.000000 meters along route # Maximum depth: 1008.432185 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.145793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400093; longitude = -122.311446; duration = 200; initialDepth = 922.368845; finalDepth = 935.145793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.634396 # Actual altitude: 62.634396 # Commanded vehicle depth: 935.145793 # Seafloor depth: -995.562681 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.292685 meters # Minimum depth: 972.368845 meters looking forward 200.000000 meters along route # Maximum depth: 994.285704 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.368845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400015; longitude = -122.310332; duration = 200; initialDepth = 911.588431; finalDepth = 922.368845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7467750000001 # Actual altitude: 60.7467750000001 # Commanded vehicle depth: 922.368845 # Seafloor depth: -983.115620 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.292799 meters # Minimum depth: 961.588431 meters looking forward 200.000000 meters along route # Maximum depth: 982.323411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.588431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399937; longitude = -122.309218; duration = 200; initialDepth = 888.142616; finalDepth = 911.588431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7467750000001 # Actual altitude: 60.7467750000001 # Commanded vehicle depth: 911.588431 # Seafloor depth: -971.855264 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.292915 meters # Minimum depth: 938.142616 meters looking forward 200.000000 meters along route # Maximum depth: 971.698885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.142616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399859; longitude = -122.308104; duration = 200; initialDepth = 864.484560; finalDepth = 888.142616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.006295 # Actual altitude: 72.006295 # Commanded vehicle depth: 888.142616 # Seafloor depth: -960.148911 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293030 meters # Minimum depth: 914.484560 meters looking forward 200.000000 meters along route # Maximum depth: 958.861108 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 864.484560 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399780; longitude = -122.306989; duration = 200; initialDepth = 848.160744; finalDepth = 864.484560; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.006295 # Actual altitude: 72.006295 # Commanded vehicle depth: 864.48456 # Seafloor depth: -934.106638 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293145 meters # Minimum depth: 898.160744 meters looking forward 200.000000 meters along route # Maximum depth: 931.433325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.160744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399702; longitude = -122.305875; duration = 200; initialDepth = 839.689514; finalDepth = 848.160744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.622078 # Actual altitude: 69.622078 # Commanded vehicle depth: 848.160744 # Seafloor depth: -912.133821 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293261 meters # Minimum depth: 889.689514 meters looking forward 200.000000 meters along route # Maximum depth: 910.816284 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.689514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399624; longitude = -122.304761; duration = 200; initialDepth = 834.443932; finalDepth = 839.689514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.973077 # Actual altitude: 63.973077 # Commanded vehicle depth: 839.689514 # Seafloor depth: -897.364664 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293375 meters # Minimum depth: 884.443932 meters looking forward 200.000000 meters along route # Maximum depth: 896.257812 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.443932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399546; longitude = -122.303647; duration = 200; initialDepth = 834.443932; finalDepth = 834.443932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6751499999999 # Actual altitude: 57.6751499999999 # Commanded vehicle depth: 834.443932 # Seafloor depth: -887.840242 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293491 meters # Minimum depth: 884.443932 meters looking forward 200.000000 meters along route # Maximum depth: 887.203193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.443932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399467; longitude = -122.302533; duration = 200; initialDepth = 834.214930; finalDepth = 834.443932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.39631 # Actual altitude: 53.39631 # Commanded vehicle depth: 834.443932 # Seafloor depth: -885.359830 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293606 meters # Minimum depth: 884.214930 meters looking forward 200.000000 meters along route # Maximum depth: 885.946848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.214930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399389; longitude = -122.301418; duration = 200; initialDepth = 834.214930; finalDepth = 834.214930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.915898 # Actual altitude: 50.915898 # Commanded vehicle depth: 834.21493 # Seafloor depth: -884.836239 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293721 meters # Minimum depth: 884.214930 meters looking forward 200.000000 meters along route # Maximum depth: 886.137857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 834.214930 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399311; longitude = -122.300304; duration = 200; initialDepth = 830.522457; finalDepth = 834.214930; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.577414 # Actual altitude: 51.577414 # Commanded vehicle depth: 834.21493 # Seafloor depth: -885.792344 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293837 meters # Minimum depth: 880.522457 meters looking forward 200.000000 meters along route # Maximum depth: 886.137857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 830.522457 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399233; longitude = -122.299190; duration = 200; initialDepth = 828.499316; finalDepth = 830.522457; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.47366 # Actual altitude: 55.47366 # Commanded vehicle depth: 830.522457 # Seafloor depth: -885.996117 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.293952 meters # Minimum depth: 878.499316 meters looking forward 200.000000 meters along route # Maximum depth: 885.632174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.499316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399154; longitude = -122.298076; duration = 200; initialDepth = 814.440784; finalDepth = 828.499316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.47366 # Actual altitude: 55.47366 # Commanded vehicle depth: 828.499316 # Seafloor depth: -881.453411 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294067 meters # Minimum depth: 864.440784 meters looking forward 200.000000 meters along route # Maximum depth: 882.379173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.440784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399076; longitude = -122.296962; duration = 200; initialDepth = 811.311295; finalDepth = 814.440784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.037326 # Actual altitude: 63.037326 # Commanded vehicle depth: 814.440784 # Seafloor depth: -877.478110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294183 meters # Minimum depth: 861.311295 meters looking forward 200.000000 meters along route # Maximum depth: 876.842663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.311295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398998; longitude = -122.295847; duration = 200; initialDepth = 811.311295; finalDepth = 811.311295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.037326 # Actual altitude: 63.037326 # Commanded vehicle depth: 811.311295 # Seafloor depth: -863.725598 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294298 meters # Minimum depth: 861.311295 meters looking forward 200.000000 meters along route # Maximum depth: 872.644145 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.311295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398920; longitude = -122.294733; duration = 200; initialDepth = 814.424661; finalDepth = 811.311295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.414303 # Actual altitude: 52.414303 # Commanded vehicle depth: 811.311295 # Seafloor depth: -863.553683 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294414 meters # Minimum depth: 864.424661 meters looking forward 200.000000 meters along route # Maximum depth: 911.970299 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 814.424661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398841; longitude = -122.293619; duration = 200; initialDepth = 825.068418; finalDepth = 814.424661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.9821499999999 # Actual altitude: 59.9821499999999 # Commanded vehicle depth: 814.424661 # Seafloor depth: -874.406811 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294529 meters # Minimum depth: 875.068418 meters looking forward 200.000000 meters along route # Maximum depth: 991.836967 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 825.068418 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398763; longitude = -122.292505; duration = 200; initialDepth = 880.734059; finalDepth = 825.068418; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.670919 # Actual altitude: 95.670919 # Commanded vehicle depth: 825.068418 # Seafloor depth: -920.739337 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294645 meters # Minimum depth: 930.734059 meters looking forward 200.000000 meters along route # Maximum depth: 1042.896300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 880.734059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398685; longitude = -122.291391; duration = 200; initialDepth = 953.602382; finalDepth = 880.734059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.691161 # Actual altitude: 100 # Commanded vehicle depth: 880.734059 # Seafloor depth: -998.425220 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294760 meters # Minimum depth: 1005.303439 meters looking forward 200.000000 meters along route # Maximum depth: 1117.236808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 953.602382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398607; longitude = -122.290276; duration = 200; initialDepth = 1003.699991; finalDepth = 953.602382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 117.691161 # Actual altitude: 100 # Commanded vehicle depth: 953.602382281317 # Seafloor depth: -1046.574102 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294876 meters # Minimum depth: 1053.699991 meters looking forward 200.000000 meters along route # Maximum depth: 1208.460753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1003.699991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398528; longitude = -122.289162; duration = 200; initialDepth = 1076.568482; finalDepth = 1003.699991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 129.4551 # Actual altitude: 100 # Commanded vehicle depth: 1003.699991 # Seafloor depth: -1133.155091 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.294991 meters # Minimum depth: 1142.524250 meters looking forward 200.000000 meters along route # Maximum depth: 1246.440447 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1076.568482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398450; longitude = -122.288048; duration = 200; initialDepth = 1149.437057; finalDepth = 1076.568482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 131.720392887363 # Actual altitude: 100 # Commanded vehicle depth: 1076.56848211264 # Seafloor depth: -1208.288875 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.295107 meters # Minimum depth: 1219.623969 meters looking forward 200.000000 meters along route # Maximum depth: 1251.510270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1149.437057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398372; longitude = -122.286934; duration = 200; initialDepth = 1190.208938; finalDepth = 1149.437057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 131.720392887363 # Actual altitude: 100 # Commanded vehicle depth: 1149.43705677766 # Seafloor depth: -1248.225293 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.295222 meters # Minimum depth: 1240.208938 meters looking forward 200.000000 meters along route # Maximum depth: 1251.510270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.208938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398294; longitude = -122.285819; duration = 200; initialDepth = 1179.992323; finalDepth = 1190.208938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.7882362223365 # Actual altitude: 98.7882362223365 # Commanded vehicle depth: 1190.208938 # Seafloor depth: -1249.008772 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.295338 meters # Minimum depth: 1229.992323 meters looking forward 200.000000 meters along route # Maximum depth: 1247.166343 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.992323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398215; longitude = -122.284705; duration = 200; initialDepth = 1174.103892; finalDepth = 1179.992323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.899635 # Actual altitude: 59.899635 # Commanded vehicle depth: 1179.992323 # Seafloor depth: -1239.891958 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.295454 meters # Minimum depth: 1224.103892 meters looking forward 200.000000 meters along route # Maximum depth: 1239.282597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.103892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398137; longitude = -122.283591; duration = 200; initialDepth = 1174.103892; finalDepth = 1174.103892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.899635 # Actual altitude: 59.899635 # Commanded vehicle depth: 1174.103892 # Seafloor depth: -1230.327950 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.295569 meters # Minimum depth: 1224.103892 meters looking forward 200.000000 meters along route # Maximum depth: 1230.248129 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.103892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.398059; longitude = -122.282477; duration = 200; initialDepth = 1174.455607; finalDepth = 1174.103892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.224058 # Actual altitude: 56.224058 # Commanded vehicle depth: 1174.103892 # Seafloor depth: -1224.510261 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 100.295685 meters # Minimum depth: 1224.455607 meters looking forward 200.000000 meters along route # Maximum depth: 1235.429780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1174.455607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397981; longitude = -122.281363; duration = 200; initialDepth = 1179.859528; finalDepth = 1174.455607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1196809999999 # Actual altitude: 55.1196809999999 # Commanded vehicle depth: 1174.455607 # Seafloor depth: -1229.575288 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 106.982192 meters # Minimum depth: 1229.859528 meters looking forward 200.000000 meters along route # Maximum depth: 1246.466504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.859528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397902; longitude = -122.280248; duration = 213; initialDepth = 1190.370439; finalDepth = 1179.859528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.4807780000001 # Actual altitude: 56.4807780000001 # Commanded vehicle depth: 1179.859528 # Seafloor depth: -1236.340306 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 146.785864 meters # Minimum depth: 1240.370439 meters looking forward 200.000000 meters along route # Maximum depth: 1246.990560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.370439 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.397819; longitude = -122.279060; duration = 293; # abortOnTimeout = True; initialDepth = 1176.326668; finalDepth = 1190.370439; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.6201209999999 # Actual altitude: 56.6201209999999 # Commanded vehicle depth: 1190.370439 # Seafloor depth: -1246.990560 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 123.706625 meters # Minimum depth: 1226.326668 meters looking forward 200.000000 meters along route # Maximum depth: 1244.246094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1176.326668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399141; longitude = -122.278986; duration = 247; # abortOnTimeout = True; initialDepth = 1169.477163; finalDepth = 1176.326668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8646570000001 # Actual altitude: 63.8646570000001 # Commanded vehicle depth: 1176.326668 # Seafloor depth: -1240.191325 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.302538 meters # Minimum depth: 1219.477163 meters looking forward 200.000000 meters along route # Maximum depth: 1236.524091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.477163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399238; longitude = -122.280360; duration = 200; initialDepth = 1169.108547; finalDepth = 1169.477163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.8646570000001 # Actual altitude: 63.8646570000001 # Commanded vehicle depth: 1169.477163 # Seafloor depth: -1225.304752 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.302421 meters # Minimum depth: 1219.108547 meters looking forward 200.000000 meters along route # Maximum depth: 1224.711311 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.108547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399317; longitude = -122.281474; duration = 200; initialDepth = 1169.108547; finalDepth = 1169.108547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.827589 # Actual altitude: 55.827589 # Commanded vehicle depth: 1169.108547 # Seafloor depth: -1219.385970 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.302305 meters # Minimum depth: 1219.108547 meters looking forward 200.000000 meters along route # Maximum depth: 1229.847721 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1169.108547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399397; longitude = -122.282588; duration = 200; initialDepth = 1171.660141; finalDepth = 1169.108547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8638169999999 # Actual altitude: 50.8638169999999 # Commanded vehicle depth: 1169.108547 # Seafloor depth: -1219.972364 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.302188 meters # Minimum depth: 1221.660141 meters looking forward 200.000000 meters along route # Maximum depth: 1240.468553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1171.660141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399476; longitude = -122.283702; duration = 200; initialDepth = 1178.207226; finalDepth = 1171.660141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.824073 # Actual altitude: 57.824073 # Commanded vehicle depth: 1171.660141 # Seafloor depth: -1229.484214 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.302071 meters # Minimum depth: 1228.207226 meters looking forward 200.000000 meters along route # Maximum depth: 1244.539224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1178.207226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399555; longitude = -122.284817; duration = 200; initialDepth = 1190.172908; finalDepth = 1178.207226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.302903 # Actual altitude: 62.302903 # Commanded vehicle depth: 1178.207226 # Seafloor depth: -1240.510129 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301954 meters # Minimum depth: 1240.172908 meters looking forward 200.000000 meters along route # Maximum depth: 1245.452336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1190.172908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399634; longitude = -122.285931; duration = 200; initialDepth = 1152.806624; finalDepth = 1190.172908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.302903 # Actual altitude: 62.302903 # Commanded vehicle depth: 1190.172908 # Seafloor depth: -1244.917037 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301838 meters # Minimum depth: 1202.806624 meters looking forward 200.000000 meters along route # Maximum depth: 1245.452336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1152.806624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399713; longitude = -122.287045; duration = 200; initialDepth = 1098.902947; finalDepth = 1152.806624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.364347 # Actual altitude: 86.364347 # Commanded vehicle depth: 1152.806624 # Seafloor depth: -1239.170971 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301721 meters # Minimum depth: 1148.902947 meters looking forward 200.000000 meters along route # Maximum depth: 1237.164773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1098.902947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399792; longitude = -122.288159; duration = 200; initialDepth = 1010.985596; finalDepth = 1098.902947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.236584 # Actual altitude: 100 # Commanded vehicle depth: 1098.902947 # Seafloor depth: -1200.139531 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301604 meters # Minimum depth: 1060.985596 meters looking forward 200.000000 meters along route # Maximum depth: 1191.511380 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1010.985596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399871; longitude = -122.289274; duration = 200; initialDepth = 948.193975; finalDepth = 1010.985596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.764214 # Actual altitude: 100 # Commanded vehicle depth: 1010.985596 # Seafloor depth: -1136.749810 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301488 meters # Minimum depth: 998.193975 meters looking forward 200.000000 meters along route # Maximum depth: 1133.636073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 948.193975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.399951; longitude = -122.290388; duration = 200; initialDepth = 868.563006; finalDepth = 948.193975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 125.764214 # Actual altitude: 100 # Commanded vehicle depth: 948.193975 # Seafloor depth: -1050.238774 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301371 meters # Minimum depth: 918.563006 meters looking forward 200.000000 meters along route # Maximum depth: 1048.019329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 868.563006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400030; longitude = -122.291502; duration = 200; initialDepth = 843.198323; finalDepth = 868.563006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.059227 # Actual altitude: 100 # Commanded vehicle depth: 868.563006 # Seafloor depth: -988.622233 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301254 meters # Minimum depth: 893.198323 meters looking forward 200.000000 meters along route # Maximum depth: 982.449571 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.198323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400109; longitude = -122.292616; duration = 200; initialDepth = 826.649820; finalDepth = 843.198323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.059227 # Actual altitude: 100 # Commanded vehicle depth: 843.198323 # Seafloor depth: -917.698730 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301138 meters # Minimum depth: 876.649820 meters looking forward 200.000000 meters along route # Maximum depth: 916.276771 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.649820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400188; longitude = -122.293730; duration = 200; initialDepth = 826.649820; finalDepth = 826.649820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.500407 # Actual altitude: 74.500407 # Commanded vehicle depth: 826.64982 # Seafloor depth: -893.647669 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.301021 meters # Minimum depth: 876.649820 meters looking forward 200.000000 meters along route # Maximum depth: 892.526360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 826.649820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400267; longitude = -122.294845; duration = 200; initialDepth = 827.672079; finalDepth = 826.649820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.997849 # Actual altitude: 66.997849 # Commanded vehicle depth: 826.64982 # Seafloor depth: -877.154616 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300905 meters # Minimum depth: 877.672079 meters looking forward 200.000000 meters along route # Maximum depth: 885.694702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 827.672079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400346; longitude = -122.295959; duration = 200; initialDepth = 833.905833; finalDepth = 827.672079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.721631 # Actual altitude: 55.721631 # Commanded vehicle depth: 827.672079 # Seafloor depth: -883.393710 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300788 meters # Minimum depth: 883.905833 meters looking forward 200.000000 meters along route # Maximum depth: 889.333312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 833.905833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400425; longitude = -122.297073; duration = 200; initialDepth = 836.013358; finalDepth = 833.905833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.721631 # Actual altitude: 55.721631 # Commanded vehicle depth: 833.905833 # Seafloor depth: -885.589844 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300672 meters # Minimum depth: 886.013358 meters looking forward 200.000000 meters along route # Maximum depth: 891.170661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 836.013358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400505; longitude = -122.298187; duration = 200; initialDepth = 839.200272; finalDepth = 836.013358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2253549999999 # Actual altitude: 53.2253549999999 # Commanded vehicle depth: 836.013358 # Seafloor depth: -889.238713 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300555 meters # Minimum depth: 889.200272 meters looking forward 200.000000 meters along route # Maximum depth: 891.170661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 839.200272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400584; longitude = -122.299301; duration = 200; initialDepth = 838.048340; finalDepth = 839.200272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2253549999999 # Actual altitude: 53.2253549999999 # Commanded vehicle depth: 839.200272 # Seafloor depth: -890.339952 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300439 meters # Minimum depth: 888.048340 meters looking forward 200.000000 meters along route # Maximum depth: 890.220969 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.048340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400663; longitude = -122.300416; duration = 200; initialDepth = 838.048340; finalDepth = 838.048340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.166443 # Actual altitude: 51.166443 # Commanded vehicle depth: 838.04834 # Seafloor depth: -889.214783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300323 meters # Minimum depth: 888.048340 meters looking forward 200.000000 meters along route # Maximum depth: 897.407531 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 838.048340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400742; longitude = -122.301530; duration = 200; initialDepth = 840.483779; finalDepth = 838.048340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9577499999999 # Actual altitude: 51.9577499999999 # Commanded vehicle depth: 838.04834 # Seafloor depth: -890.006090 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300206 meters # Minimum depth: 890.483779 meters looking forward 200.000000 meters along route # Maximum depth: 905.795204 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.483779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400821; longitude = -122.302644; duration = 200; initialDepth = 848.162779; finalDepth = 840.483779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5431239999999 # Actual altitude: 57.5431239999999 # Commanded vehicle depth: 840.483779 # Seafloor depth: -898.026903 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.300090 meters # Minimum depth: 898.162779 meters looking forward 200.000000 meters along route # Maximum depth: 913.139753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 848.162779 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400900; longitude = -122.303758; duration = 200; initialDepth = 857.716030; finalDepth = 848.162779; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.792648 # Actual altitude: 58.792648 # Commanded vehicle depth: 848.162779 # Seafloor depth: -906.955427 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299974 meters # Minimum depth: 907.716030 meters looking forward 200.000000 meters along route # Maximum depth: 927.140761 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.716030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400979; longitude = -122.304872; duration = 200; initialDepth = 866.083801; finalDepth = 857.716030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.792648 # Actual altitude: 58.792648 # Commanded vehicle depth: 857.71603 # Seafloor depth: -914.377332 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299857 meters # Minimum depth: 916.083801 meters looking forward 200.000000 meters along route # Maximum depth: 956.034895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 866.083801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401059; longitude = -122.305987; duration = 200; initialDepth = 879.908264; finalDepth = 866.083801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.016732 # Actual altitude: 62.016732 # Commanded vehicle depth: 866.083801 # Seafloor depth: -928.100533 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299741 meters # Minimum depth: 929.908264 meters looking forward 200.000000 meters along route # Maximum depth: 972.676476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.908264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401138; longitude = -122.307101; duration = 200; initialDepth = 911.309573; finalDepth = 879.908264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.507617 # Actual altitude: 78.507617 # Commanded vehicle depth: 879.908264 # Seafloor depth: -958.415881 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299624 meters # Minimum depth: 961.309573 meters looking forward 200.000000 meters along route # Maximum depth: 979.394874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 911.309573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401217; longitude = -122.308215; duration = 200; initialDepth = 923.206019; finalDepth = 911.309573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.507617 # Actual altitude: 78.507617 # Commanded vehicle depth: 911.309573 # Seafloor depth: -972.965877 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299509 meters # Minimum depth: 973.206019 meters looking forward 200.000000 meters along route # Maximum depth: 992.998241 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.206019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401296; longitude = -122.309329; duration = 200; initialDepth = 931.048477; finalDepth = 923.206019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.656304 # Actual altitude: 61.656304 # Commanded vehicle depth: 923.206019 # Seafloor depth: -979.906749 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299392 meters # Minimum depth: 981.048477 meters looking forward 200.000000 meters along route # Maximum depth: 1010.650230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.048477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401375; longitude = -122.310443; duration = 200; initialDepth = 946.206209; finalDepth = 931.048477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.307923 # Actual altitude: 63.307923 # Commanded vehicle depth: 931.048477 # Seafloor depth: -994.356400 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299276 meters # Minimum depth: 996.206209 meters looking forward 200.000000 meters along route # Maximum depth: 1025.346300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 946.206209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401454; longitude = -122.311558; duration = 200; initialDepth = 962.376420; finalDepth = 946.206209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5032220000001 # Actual altitude: 64.5032220000001 # Commanded vehicle depth: 946.206209 # Seafloor depth: -1010.709431 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 100.299160 meters # Minimum depth: 1012.376420 meters looking forward 200.000000 meters along route # Maximum depth: 1042.382627 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 962.376420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401533; longitude = -122.312672; duration = 200; initialDepth = 978.675877; finalDepth = 962.376420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.5032220000001 # Actual altitude: 64.5032220000001 # Commanded vehicle depth: 962.37642 # Seafloor depth: -1026.807077 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 103.642344 meters # Minimum depth: 1028.675877 meters looking forward 200.000000 meters along route # Maximum depth: 1061.651044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 978.675877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401613; longitude = -122.313786; duration = 207; initialDepth = 1004.534668; finalDepth = 978.675877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.4301850000002 # Actual altitude: 66.4301850000002 # Commanded vehicle depth: 978.675877 # Seafloor depth: -1045.106062 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 151.141134 meters # Minimum depth: 1054.534668 meters looking forward 200.000000 meters along route # Maximum depth: 1071.777344 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1004.534668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401694; longitude = -122.314937; duration = 302; # abortOnTimeout = True; initialDepth = 996.609245; finalDepth = 1004.534668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.4301850000002 # Actual altitude: 66.4301850000002 # Commanded vehicle depth: 1004.534668 # Seafloor depth: -1062.502197 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 147.088409 meters # Minimum depth: 1046.609245 meters looking forward 200.000000 meters along route # Maximum depth: 1071.828857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 996.609245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403016; longitude = -122.314529; duration = 294; # abortOnTimeout = True; initialDepth = 977.477819; finalDepth = 996.609245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2196119999999 # Actual altitude: 75.2196119999999 # Commanded vehicle depth: 996.609245 # Seafloor depth: -1071.828857 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.287692 meters # Minimum depth: 1027.477819 meters looking forward 200.000000 meters along route # Maximum depth: 1061.345022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 977.477819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402902; longitude = -122.312895; duration = 200; initialDepth = 961.961305; finalDepth = 977.477819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.2196119999999 # Actual altitude: 75.2196119999999 # Commanded vehicle depth: 977.477819 # Seafloor depth: -1044.171661 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.287808 meters # Minimum depth: 1011.961305 meters looking forward 200.000000 meters along route # Maximum depth: 1042.205263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 961.961305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402824; longitude = -122.311781; duration = 200; initialDepth = 944.525180; finalDepth = 961.961305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6938420000001 # Actual altitude: 66.6938420000001 # Commanded vehicle depth: 961.961305 # Seafloor depth: -1025.930694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.287922 meters # Minimum depth: 994.525180 meters looking forward 200.000000 meters along route # Maximum depth: 1024.493907 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.525180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402745; longitude = -122.310666; duration = 200; initialDepth = 931.071587; finalDepth = 944.525180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.220871 # Actual altitude: 66.220871 # Commanded vehicle depth: 944.52518 # Seafloor depth: -1010.746051 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288038 meters # Minimum depth: 981.071587 meters looking forward 200.000000 meters along route # Maximum depth: 1009.799132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.071587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402667; longitude = -122.309552; duration = 200; initialDepth = 928.328736; finalDepth = 931.071587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.220871 # Actual altitude: 66.220871 # Commanded vehicle depth: 931.071587 # Seafloor depth: -991.574260 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288152 meters # Minimum depth: 978.328736 meters looking forward 200.000000 meters along route # Maximum depth: 989.953827 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.328736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402589; longitude = -122.308438; duration = 200; initialDepth = 904.096235; finalDepth = 928.328736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.502673 # Actual altitude: 60.502673 # Commanded vehicle depth: 928.328736 # Seafloor depth: -980.968460 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288267 meters # Minimum depth: 954.096235 meters looking forward 200.000000 meters along route # Maximum depth: 980.692567 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.096235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402511; longitude = -122.307324; duration = 200; initialDepth = 881.501597; finalDepth = 904.096235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.512976 # Actual altitude: 73.512976 # Commanded vehicle depth: 904.096235 # Seafloor depth: -977.609211 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288383 meters # Minimum depth: 931.501597 meters looking forward 200.000000 meters along route # Maximum depth: 976.712249 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.501597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402433; longitude = -122.306210; duration = 200; initialDepth = 873.611696; finalDepth = 881.501597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.512976 # Actual altitude: 73.512976 # Commanded vehicle depth: 881.501597 # Seafloor depth: -951.155882 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288497 meters # Minimum depth: 923.611696 meters looking forward 200.000000 meters along route # Maximum depth: 946.435272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 873.611696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402355; longitude = -122.305095; duration = 200; initialDepth = 865.179692; finalDepth = 873.611696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.6542850000001 # Actual altitude: 69.6542850000001 # Commanded vehicle depth: 873.611696 # Seafloor depth: -931.463142 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288612 meters # Minimum depth: 915.179692 meters looking forward 200.000000 meters along route # Maximum depth: 930.577922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 865.179692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402277; longitude = -122.303981; duration = 200; initialDepth = 857.291535; finalDepth = 865.179692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.8514459999999 # Actual altitude: 57.8514459999999 # Commanded vehicle depth: 865.179692 # Seafloor depth: -922.764987 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288728 meters # Minimum depth: 907.291535 meters looking forward 200.000000 meters along route # Maximum depth: 922.141261 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.291535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402199; longitude = -122.302867; duration = 200; initialDepth = 847.929507; finalDepth = 857.291535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.585295 # Actual altitude: 57.585295 # Commanded vehicle depth: 857.291535 # Seafloor depth: -914.110413 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288842 meters # Minimum depth: 897.929507 meters looking forward 200.000000 meters along route # Maximum depth: 913.462970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 847.929507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402120; longitude = -122.301753; duration = 200; initialDepth = 842.917618; finalDepth = 847.929507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8438950000001 # Actual altitude: 58.8438950000001 # Commanded vehicle depth: 847.929507 # Seafloor depth: -906.773402 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.288958 meters # Minimum depth: 892.917618 meters looking forward 200.000000 meters along route # Maximum depth: 906.142985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.917618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402042; longitude = -122.300638; duration = 200; initialDepth = 842.917618; finalDepth = 842.917618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8438950000001 # Actual altitude: 58.8438950000001 # Commanded vehicle depth: 842.917618 # Seafloor depth: -897.153573 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289073 meters # Minimum depth: 892.917618 meters looking forward 200.000000 meters along route # Maximum depth: 897.212547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.917618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401964; longitude = -122.299524; duration = 200; initialDepth = 843.353359; finalDepth = 842.917618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.2359550000001 # Actual altitude: 54.2359550000001 # Commanded vehicle depth: 842.917618 # Seafloor depth: -893.276492 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289188 meters # Minimum depth: 893.353359 meters looking forward 200.000000 meters along route # Maximum depth: 897.644607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 843.353359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401886; longitude = -122.298410; duration = 200; initialDepth = 842.497432; finalDepth = 843.353359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.637275 # Actual altitude: 53.637275 # Commanded vehicle depth: 843.353359 # Seafloor depth: -896.990634 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289303 meters # Minimum depth: 892.497432 meters looking forward 200.000000 meters along route # Maximum depth: 897.644607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.497432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401808; longitude = -122.297296; duration = 200; initialDepth = 842.497432; finalDepth = 842.497432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.637275 # Actual altitude: 53.637275 # Commanded vehicle depth: 842.497432 # Seafloor depth: -895.240261 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289419 meters # Minimum depth: 892.497432 meters looking forward 200.000000 meters along route # Maximum depth: 895.816207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.497432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401730; longitude = -122.296182; duration = 200; initialDepth = 842.947396; finalDepth = 842.497432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.742829 # Actual altitude: 52.742829 # Commanded vehicle depth: 842.497432 # Seafloor depth: -893.549172 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289533 meters # Minimum depth: 892.947396 meters looking forward 200.000000 meters along route # Maximum depth: 916.037187 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 842.947396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401652; longitude = -122.295067; duration = 200; initialDepth = 845.625158; finalDepth = 842.947396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.05174 # Actual altitude: 51.05174 # Commanded vehicle depth: 842.947396 # Seafloor depth: -893.208315 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289649 meters # Minimum depth: 895.625158 meters looking forward 200.000000 meters along route # Maximum depth: 957.790116 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 845.625158 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401574; longitude = -122.293953; duration = 200; initialDepth = 869.787048; finalDepth = 845.625158; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.6053939999999 # Actual altitude: 71.6053939999999 # Commanded vehicle depth: 845.625158 # Seafloor depth: -917.230552 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289765 meters # Minimum depth: 919.787048 meters looking forward 200.000000 meters along route # Maximum depth: 1020.454604 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.787048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401495; longitude = -122.292839; duration = 200; initialDepth = 920.449936; finalDepth = 869.787048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.799317 # Actual altitude: 87.799317 # Commanded vehicle depth: 869.787048 # Seafloor depth: -957.586365 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289879 meters # Minimum depth: 970.449936 meters looking forward 200.000000 meters along route # Maximum depth: 1056.605472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.449936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401417; longitude = -122.291725; duration = 200; initialDepth = 971.667128; finalDepth = 920.449936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.359736 # Actual altitude: 100 # Commanded vehicle depth: 920.449936 # Seafloor depth: -1023.809672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.289995 meters # Minimum depth: 1021.667128 meters looking forward 200.000000 meters along route # Maximum depth: 1120.257086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 971.667128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401339; longitude = -122.290611; duration = 200; initialDepth = 1012.891933; finalDepth = 971.667128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.359736 # Actual altitude: 100 # Commanded vehicle depth: 971.667128 # Seafloor depth: -1060.294850 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290110 meters # Minimum depth: 1062.891933 meters looking forward 200.000000 meters along route # Maximum depth: 1183.580657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1012.891933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401261; longitude = -122.289496; duration = 200; initialDepth = 1079.512460; finalDepth = 1012.891933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.735769 # Actual altitude: 100 # Commanded vehicle depth: 1012.891933 # Seafloor depth: -1119.627702 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290226 meters # Minimum depth: 1129.512460 meters looking forward 200.000000 meters along route # Maximum depth: 1241.110018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1079.512460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401183; longitude = -122.288382; duration = 200; initialDepth = 1137.276763; finalDepth = 1079.512460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 106.735769 # Actual altitude: 100 # Commanded vehicle depth: 1079.51246 # Seafloor depth: -1180.966127 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290341 meters # Minimum depth: 1187.276763 meters looking forward 200.000000 meters along route # Maximum depth: 1245.251796 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1137.276763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401105; longitude = -122.287268; duration = 200; initialDepth = 1192.937446; finalDepth = 1137.276763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.785794 # Actual altitude: 100 # Commanded vehicle depth: 1137.276763 # Seafloor depth: -1242.062557 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290457 meters # Minimum depth: 1242.937446 meters looking forward 200.000000 meters along route # Maximum depth: 1247.391220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.937446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401027; longitude = -122.286154; duration = 200; initialDepth = 1183.952565; finalDepth = 1192.937446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 104.785794 # Actual altitude: 100 # Commanded vehicle depth: 1192.937446 # Seafloor depth: -1245.275594 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290572 meters # Minimum depth: 1233.952565 meters looking forward 200.000000 meters along route # Maximum depth: 1247.391220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1183.952565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400949; longitude = -122.285040; duration = 200; initialDepth = 1172.563822; finalDepth = 1183.952565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.531056 # Actual altitude: 57.531056 # Commanded vehicle depth: 1183.952565 # Seafloor depth: -1241.483621 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290687 meters # Minimum depth: 1222.563822 meters looking forward 200.000000 meters along route # Maximum depth: 1241.457059 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.563822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400870; longitude = -122.283925; duration = 200; initialDepth = 1166.396799; finalDepth = 1172.563822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4945379999999 # Actual altitude: 59.4945379999999 # Commanded vehicle depth: 1172.563822 # Seafloor depth: -1232.058360 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290803 meters # Minimum depth: 1216.396799 meters looking forward 200.000000 meters along route # Maximum depth: 1231.655828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.396799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400792; longitude = -122.282811; duration = 200; initialDepth = 1166.396799; finalDepth = 1166.396799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4945379999999 # Actual altitude: 59.4945379999999 # Commanded vehicle depth: 1166.396799 # Seafloor depth: -1220.235273 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.85; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.290919 meters # Minimum depth: 1216.396799 meters looking forward 200.000000 meters along route # Maximum depth: 1219.560615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1166.396799 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400714; longitude = -122.281697; duration = 200; initialDepth = 1167.479189; finalDepth = 1166.396799; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8384739999999 # Actual altitude: 53.8384739999999 # Commanded vehicle depth: 1166.396799 # Seafloor depth: -1217.189524 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.291034 meters # Minimum depth: 1217.479189 meters looking forward 200.000000 meters along route # Maximum depth: 1221.156511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.479189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400636; longitude = -122.280583; duration = 200; initialDepth = 1167.479189; finalDepth = 1167.479189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7927249999998 # Actual altitude: 50.7927249999998 # Commanded vehicle depth: 1167.479189 # Seafloor depth: -1218.088539 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.291150 meters # Minimum depth: 1217.479189 meters looking forward 200.000000 meters along route # Maximum depth: 1232.208517 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1167.479189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400558; longitude = -122.279468; duration = 200; initialDepth = 1172.864433; finalDepth = 1167.479189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7133650000001 # Actual altitude: 54.7133650000001 # Commanded vehicle depth: 1167.479189 # Seafloor depth: -1222.192554 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.291265 meters # Minimum depth: 1222.864433 meters looking forward 200.000000 meters along route # Maximum depth: 1250.590839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1172.864433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400480; longitude = -122.278354; duration = 200; initialDepth = 1184.755428; finalDepth = 1172.864433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.8759709999999 # Actual altitude: 60.8759709999999 # Commanded vehicle depth: 1172.864433 # Seafloor depth: -1233.740404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.291381 meters # Minimum depth: 1234.755428 meters looking forward 200.000000 meters along route # Maximum depth: 1270.782766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1184.755428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400402; longitude = -122.277240; duration = 200; initialDepth = 1203.855456; finalDepth = 1184.755428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.890138 # Actual altitude: 67.890138 # Commanded vehicle depth: 1184.755428 # Seafloor depth: -1252.645566 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 100.291497 meters # Minimum depth: 1253.855456 meters looking forward 200.000000 meters along route # Maximum depth: 1287.691290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1203.855456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400324; longitude = -122.276126; duration = 200; initialDepth = 1223.732604; finalDepth = 1203.855456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.0335580000001 # Actual altitude: 69.0335580000001 # Commanded vehicle depth: 1203.855456 # Seafloor depth: -1272.889014 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 3 # Segment length 106.977724 meters # Minimum depth: 1273.732604 meters looking forward 200.000000 meters along route # Maximum depth: 1298.996163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1223.732604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400245; longitude = -122.275012; duration = 213; initialDepth = 1244.907227; finalDepth = 1223.732604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.0335580000001 # Actual altitude: 69.0335580000001 # Commanded vehicle depth: 1223.732604 # Seafloor depth: -1288.019731 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 150.299892 meters # Minimum depth: 1294.907227 meters looking forward 200.000000 meters along route # Maximum depth: 1306.163987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1244.907227 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.400162; longitude = -122.273823; duration = 300; # abortOnTimeout = True; initialDepth = 1241.997752; finalDepth = 1244.907227; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 64.2871270000001 # Actual altitude: 64.2871270000001 # Commanded vehicle depth: 1244.907227 # Seafloor depth: -1299.123861 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 127.042774 meters # Minimum depth: 1291.997752 meters looking forward 200.000000 meters along route # Maximum depth: 1306.444661 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1241.997752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401514; longitude = -122.273712; duration = 254; # abortOnTimeout = True; initialDepth = 1211.299814; finalDepth = 1241.997752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.446909 # Actual altitude: 64.446909 # Commanded vehicle depth: 1241.997752 # Seafloor depth: -1306.444661 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.296794 meters # Minimum depth: 1261.299814 meters looking forward 200.000000 meters along route # Maximum depth: 1304.133046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1211.299814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401614; longitude = -122.275123; duration = 200; initialDepth = 1197.318956; finalDepth = 1211.299814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8405620000001 # Actual altitude: 79.8405620000001 # Commanded vehicle depth: 1211.299814 # Seafloor depth: -1291.140376 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.296677 meters # Minimum depth: 1247.318956 meters looking forward 200.000000 meters along route # Maximum depth: 1288.384273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1197.318956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401693; longitude = -122.276237; duration = 200; initialDepth = 1179.622295; finalDepth = 1197.318956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.8405620000001 # Actual altitude: 79.8405620000001 # Commanded vehicle depth: 1197.318956 # Seafloor depth: -1260.821080 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.296561 meters # Minimum depth: 1229.622295 meters looking forward 200.000000 meters along route # Maximum depth: 1260.618113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1179.622295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401772; longitude = -122.277351; duration = 200; initialDepth = 1161.965211; finalDepth = 1179.622295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8319150000002 # Actual altitude: 65.8319150000002 # Commanded vehicle depth: 1179.622295 # Seafloor depth: -1245.454210 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.296445 meters # Minimum depth: 1211.965211 meters looking forward 200.000000 meters along route # Maximum depth: 1244.228844 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1161.965211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401851; longitude = -122.278466; duration = 200; initialDepth = 1160.599364; finalDepth = 1161.965211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.8319150000002 # Actual altitude: 65.8319150000002 # Commanded vehicle depth: 1161.965211 # Seafloor depth: -1227.440543 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.296328 meters # Minimum depth: 1210.599364 meters looking forward 200.000000 meters along route # Maximum depth: 1226.110485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1160.599364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.401929; longitude = -122.279580; duration = 200; initialDepth = 1156.965213; finalDepth = 1160.599364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.475332 # Actual altitude: 65.475332 # Commanded vehicle depth: 1160.599364 # Seafloor depth: -1211.448402 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.296211 meters # Minimum depth: 1206.965213 meters looking forward 200.000000 meters along route # Maximum depth: 1213.042290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.965213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402008; longitude = -122.280694; duration = 200; initialDepth = 1156.965213; finalDepth = 1156.965213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4177910000001 # Actual altitude: 52.4177910000001 # Commanded vehicle depth: 1156.965213 # Seafloor depth: -1209.383004 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.296095 meters # Minimum depth: 1206.965213 meters looking forward 200.000000 meters along route # Maximum depth: 1214.514322 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1156.965213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402087; longitude = -122.281808; duration = 200; initialDepth = 1162.671113; finalDepth = 1156.965213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.808888 # Actual altitude: 53.808888 # Commanded vehicle depth: 1156.965213 # Seafloor depth: -1210.774101 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295979 meters # Minimum depth: 1212.671113 meters looking forward 200.000000 meters along route # Maximum depth: 1220.429132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1162.671113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402166; longitude = -122.282923; duration = 200; initialDepth = 1165.468082; finalDepth = 1162.671113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.808888 # Actual altitude: 53.808888 # Commanded vehicle depth: 1162.671113 # Seafloor depth: -1215.161838 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295862 meters # Minimum depth: 1215.468082 meters looking forward 200.000000 meters along route # Maximum depth: 1239.960032 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1165.468082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402245; longitude = -122.284037; duration = 200; initialDepth = 1173.402532; finalDepth = 1165.468082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1363919999999 # Actual altitude: 55.1363919999999 # Commanded vehicle depth: 1165.468082 # Seafloor depth: -1220.604474 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295746 meters # Minimum depth: 1223.402532 meters looking forward 200.000000 meters along route # Maximum depth: 1246.448438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1173.402532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402324; longitude = -122.285151; duration = 200; initialDepth = 1192.374730; finalDepth = 1173.402532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.495527 # Actual altitude: 67.495527 # Commanded vehicle depth: 1173.402532 # Seafloor depth: -1240.898059 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295629 meters # Minimum depth: 1242.374730 meters looking forward 200.000000 meters along route # Maximum depth: 1247.344126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1192.374730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402403; longitude = -122.286265; duration = 200; initialDepth = 1170.653310; finalDepth = 1192.374730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.495527 # Actual altitude: 67.495527 # Commanded vehicle depth: 1192.37473 # Seafloor depth: -1245.981630 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295513 meters # Minimum depth: 1220.653310 meters looking forward 200.000000 meters along route # Maximum depth: 1247.344126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1170.653310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402481; longitude = -122.287379; duration = 200; initialDepth = 1124.159821; finalDepth = 1170.653310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.356632 # Actual altitude: 70.356632 # Commanded vehicle depth: 1170.65331 # Seafloor depth: -1241.009942 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295397 meters # Minimum depth: 1174.159821 meters looking forward 200.000000 meters along route # Maximum depth: 1240.637801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1124.159821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402560; longitude = -122.288494; duration = 200; initialDepth = 1068.696249; finalDepth = 1124.159821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.6759200000001 # Actual altitude: 91.6759200000001 # Commanded vehicle depth: 1124.159821 # Seafloor depth: -1215.835741 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295280 meters # Minimum depth: 1118.696249 meters looking forward 200.000000 meters along route # Maximum depth: 1210.085318 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1068.696249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402639; longitude = -122.289608; duration = 200; initialDepth = 1018.410238; finalDepth = 1068.696249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.395605 # Actual altitude: 100 # Commanded vehicle depth: 1068.696249 # Seafloor depth: -1170.091854 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295164 meters # Minimum depth: 1068.410238 meters looking forward 200.000000 meters along route # Maximum depth: 1167.612226 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1018.410238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402718; longitude = -122.290722; duration = 200; initialDepth = 959.989545; finalDepth = 1018.410238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.395605 # Actual altitude: 100 # Commanded vehicle depth: 1018.410238 # Seafloor depth: -1116.844735 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.295048 meters # Minimum depth: 1009.989545 meters looking forward 200.000000 meters along route # Maximum depth: 1112.175854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 959.989545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402797; longitude = -122.291836; duration = 200; initialDepth = 913.447294; finalDepth = 959.989545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.561736 # Actual altitude: 100 # Commanded vehicle depth: 959.989545 # Seafloor depth: -1062.551281 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294932 meters # Minimum depth: 963.447294 meters looking forward 200.000000 meters along route # Maximum depth: 1063.438818 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 913.447294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402876; longitude = -122.292950; duration = 200; initialDepth = 874.752458; finalDepth = 913.447294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.561736 # Actual altitude: 100 # Commanded vehicle depth: 913.447294 # Seafloor depth: -1005.966934 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294815 meters # Minimum depth: 924.752458 meters looking forward 200.000000 meters along route # Maximum depth: 1004.253856 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 874.752458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.402955; longitude = -122.294065; duration = 200; initialDepth = 856.504159; finalDepth = 874.752458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 92.51964 # Actual altitude: 92.51964 # Commanded vehicle depth: 874.752458 # Seafloor depth: -958.294970 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294699 meters # Minimum depth: 906.504159 meters looking forward 200.000000 meters along route # Maximum depth: 951.905072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.504159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403033; longitude = -122.295179; duration = 200; initialDepth = 854.333104; finalDepth = 856.504159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.542512 # Actual altitude: 83.542512 # Commanded vehicle depth: 856.504159 # Seafloor depth: -920.966531 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294583 meters # Minimum depth: 904.333104 meters looking forward 200.000000 meters along route # Maximum depth: 919.824835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.333104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403112; longitude = -122.296293; duration = 200; initialDepth = 854.333104; finalDepth = 854.333104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4623720000001 # Actual altitude: 64.4623720000001 # Commanded vehicle depth: 854.333104 # Seafloor depth: -906.441783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294467 meters # Minimum depth: 904.333104 meters looking forward 200.000000 meters along route # Maximum depth: 909.910893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.333104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403191; longitude = -122.297407; duration = 200; initialDepth = 854.817901; finalDepth = 854.333104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1086789999999 # Actual altitude: 52.1086789999999 # Commanded vehicle depth: 854.333104 # Seafloor depth: -904.944449 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294351 meters # Minimum depth: 904.817901 meters looking forward 200.000000 meters along route # Maximum depth: 909.910893 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.817901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403270; longitude = -122.298521; duration = 200; initialDepth = 854.817901; finalDepth = 854.817901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.170848 # Actual altitude: 54.170848 # Commanded vehicle depth: 854.817901 # Seafloor depth: -908.988749 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294235 meters # Minimum depth: 904.817901 meters looking forward 200.000000 meters along route # Maximum depth: 910.007702 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 854.817901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403349; longitude = -122.299636; duration = 200; initialDepth = 857.432998; finalDepth = 854.817901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.170848 # Actual altitude: 54.170848 # Commanded vehicle depth: 854.817901 # Seafloor depth: -907.608686 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294119 meters # Minimum depth: 907.432998 meters looking forward 200.000000 meters along route # Maximum depth: 918.409742 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.432998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403428; longitude = -122.300750; duration = 200; initialDepth = 861.749046; finalDepth = 857.432998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.790785 # Actual altitude: 52.790785 # Commanded vehicle depth: 857.432998 # Seafloor depth: -909.459034 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.294003 meters # Minimum depth: 911.749046 meters looking forward 200.000000 meters along route # Maximum depth: 925.979765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.749046 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403506; longitude = -122.301864; duration = 200; initialDepth = 869.731935; finalDepth = 861.749046; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.342769 # Actual altitude: 57.342769 # Commanded vehicle depth: 861.749046 # Seafloor depth: -919.091815 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293886 meters # Minimum depth: 919.731935 meters looking forward 200.000000 meters along route # Maximum depth: 934.355274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.731935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403585; longitude = -122.302978; duration = 200; initialDepth = 877.405842; finalDepth = 869.731935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.342769 # Actual altitude: 57.342769 # Commanded vehicle depth: 869.731935 # Seafloor depth: -926.482655 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293771 meters # Minimum depth: 927.405842 meters looking forward 200.000000 meters along route # Maximum depth: 944.720576 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 877.405842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403664; longitude = -122.304093; duration = 200; initialDepth = 885.881386; finalDepth = 877.405842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4604399999999 # Actual altitude: 57.4604399999999 # Commanded vehicle depth: 877.405842 # Seafloor depth: -934.866282 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293655 meters # Minimum depth: 935.881386 meters looking forward 200.000000 meters along route # Maximum depth: 976.777402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 885.881386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403743; longitude = -122.305207; duration = 200; initialDepth = 897.817340; finalDepth = 885.881386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.192771 # Actual altitude: 60.192771 # Commanded vehicle depth: 885.881386 # Seafloor depth: -946.074157 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293539 meters # Minimum depth: 947.817340 meters looking forward 200.000000 meters along route # Maximum depth: 983.605869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.817340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403822; longitude = -122.306321; duration = 200; initialDepth = 929.204195; finalDepth = 897.817340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.013714 # Actual altitude: 80.013714 # Commanded vehicle depth: 897.81734 # Seafloor depth: -977.831054 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293423 meters # Minimum depth: 979.204195 meters looking forward 200.000000 meters along route # Maximum depth: 990.509484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.204195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403901; longitude = -122.307435; duration = 200; initialDepth = 934.221623; finalDepth = 929.204195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.013714 # Actual altitude: 80.013714 # Commanded vehicle depth: 929.204195 # Seafloor depth: -983.712527 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293307 meters # Minimum depth: 984.221623 meters looking forward 200.000000 meters along route # Maximum depth: 1005.545273 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 934.221623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.403980; longitude = -122.308549; duration = 200; initialDepth = 942.619326; finalDepth = 934.221623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.724608 # Actual altitude: 56.724608 # Commanded vehicle depth: 934.221623 # Seafloor depth: -990.946231 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293191 meters # Minimum depth: 992.619326 meters looking forward 200.000000 meters along route # Maximum depth: 1023.171495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 942.619326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.404058; longitude = -122.309664; duration = 200; initialDepth = 958.714759; finalDepth = 942.619326; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.26842 # Actual altitude: 64.26842 # Commanded vehicle depth: 942.619326 # Seafloor depth: -1006.887746 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.293075 meters # Minimum depth: 1008.714759 meters looking forward 200.000000 meters along route # Maximum depth: 1041.798124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 958.714759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.404137; longitude = -122.310778; duration = 200; initialDepth = 976.127891; finalDepth = 958.714759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6776460000001 # Actual altitude: 65.6776460000001 # Commanded vehicle depth: 958.714759 # Seafloor depth: -1024.392405 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.292960 meters # Minimum depth: 1026.127891 meters looking forward 200.000000 meters along route # Maximum depth: 1060.416090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 976.127891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.404216; longitude = -122.311892; duration = 200; initialDepth = 994.973810; finalDepth = 976.127891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.2133739999999 # Actual altitude: 67.2133739999999 # Commanded vehicle depth: 976.127891 # Seafloor depth: -1043.341265 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.292844 meters # Minimum depth: 1044.973810 meters looking forward 200.000000 meters along route # Maximum depth: 1082.180989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 994.973810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.404295; longitude = -122.313006; duration = 200; initialDepth = 1014.915956; finalDepth = 994.973810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.444735 # Actual altitude: 68.444735 # Commanded vehicle depth: 994.97381 # Seafloor depth: -1063.418545 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.989299 meters # Minimum depth: 1064.915956 meters looking forward 200.000000 meters along route # Maximum depth: 1101.056413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1269.907227 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1014.915956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.404374; longitude = -122.314120; duration = 213; initialDepth = 1014.915956; finalDepth = 1014.915956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.14941 # Actual altitude: 69.14941 # Commanded vehicle depth: 1014.915956 # Seafloor depth: -1084.065366 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 87.196379 # Sonar parameter altitude: 87.196379 # Commanded vehicle depth: 1014.915956 # Seafloor depth: -1102.112335 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; 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 = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 106.989299 meters # Minimum depth: 1064.915956 meters looking forward 200.000000 meters along route # Maximum depth: 1102.112335 meters looking forward 200.000000 meters along route # Vehicle depth: 1014.915956 meters behavior waypoint { latitude = 36.404458; longitude = -122.315309; duration = 1014; depth = 1014.915956; speed = 1.500000; } # # 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 4 - 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 1014.915956 meters set by local depth and desired altitude behavior descend { duration = 3064; horizontalMode = rudder; horizontal = 2.000000; pitch = -35.000000; speed = 1.500000; maxDepth = 1042.112335; minAltitude = 50.000000; } # # Acoustic update 5 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Waypoint behavior to get to start of line 1 # Segment length 106.989299 meters # Minimum depth: 1064.915956 meters looking forward 200.000000 meters along route # Maximum depth: 1102.112335 meters looking forward 200.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 36.404458; longitude = -122.315309; duration = 1000; depth = 50.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 300.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 300.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################