# 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 2258 2015-10-06 04:57:28Z caress r # # Mission Summary: # Route File: CCEDeep_m1_v4.rte # Mission File: CCEDeep_m1_v4.cfg # Distance: 88863.706548 (m) # Estimated Time: 61733 (s) 17.148 (hr) # Abort Time: 64670 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 1929 (s) # Way Points: 63 # Route Points: 858 # 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: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 25 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: 40 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 20 (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: 1855.485825 (m) # Abort Vehicle Depth: 1875.485825 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (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 -121.971938 36.733809 -129.753162 0.000000 3 # 1 -122.004763 36.729303 -1140.500977 2973.490671 1 # 2 -122.012083 36.723235 -1406.914703 3911.832104 3 # 3 -122.010290 36.718728 -1418.470581 4436.848734 1 # 4 -122.009581 36.714613 -1393.949219 4897.732145 1 # 5 -122.011037 36.707944 -1329.171082 5648.924271 1 # 6 -122.019701 36.700163 -1453.993530 6808.284315 1 # 7 -122.032211 36.694515 -1540.150696 8089.537279 1 # 8 -122.072223 36.695521 -1734.972687 11665.873535 1 # 9 -122.103328 36.695821 -1885.054718 14444.891617 3 # 10 -122.103308 36.697173 -1877.903717 14594.888198 3 # 11 -122.072203 36.696873 -1761.842773 17373.857627 1 # 12 -122.032136 36.695927 -1590.445801 20954.839819 1 # 13 -122.020784 36.701184 -1532.837891 22124.699177 1 # 14 -122.012979 36.708725 -1423.459961 23213.717569 1 # 15 -122.011522 36.714673 -1451.726135 23886.290323 1 # 16 -122.012157 36.718668 -1427.621124 24333.104012 1 # 17 -122.015892 36.728462 -1300.576172 25469.684363 3 # 18 -122.017348 36.727921 -1365.797394 25612.889279 3 # 19 -122.013950 36.718578 -1435.154358 26692.898844 1 # 20 -122.013763 36.714673 -1453.402832 27126.435725 1 # 21 -122.014622 36.709115 -1458.937103 27747.786937 1 # 22 -122.021829 36.702326 -1514.961945 28738.592201 1 # 23 -122.032323 36.697309 -1586.243347 29828.824920 1 # 24 -122.072183 36.698225 -1768.046722 33391.162873 1 # 25 -122.103289 36.698525 -1875.768158 36170.172975 3 # 26 -122.103269 36.699877 -1868.943451 36320.169624 3 # 27 -122.072162 36.699577 -1766.315613 39099.220396 1 # 28 -122.032696 36.698811 -1578.956055 42625.869403 1 # 29 -122.022838 36.703497 -1463.523743 43648.491719 1 # 30 -122.016751 36.709746 -1488.331818 44529.533058 1 # 31 -122.015742 36.714793 -1431.345215 45096.645966 1 # 32 -122.015854 36.718488 -1433.016235 45506.685804 1 # 33 -122.016676 36.721252 -1419.548462 45821.985588 3 # 34 -122.009394 36.722514 -1379.842651 46487.223127 3 # 35 -122.008460 36.718939 -1400.301117 46892.506122 1 # 36 -122.007825 36.714943 -1306.667023 47339.430169 3 # 37 -122.018580 36.710257 -1413.412140 48431.694403 3 # 38 -122.024070 36.704579 -1431.720734 49229.983517 1 # 39 -122.033929 36.700163 -1537.726562 50237.774856 3 # 40 -122.033481 36.693043 -1495.646606 51028.665046 3 # 41 -122.076949 36.693764 -1654.506714 54912.914564 3 # 42 -122.063916 36.700824 -1702.584747 56316.136453 3 # 43 -122.103249 36.701229 -1863.571228 59830.063943 3 # 44 -122.103229 36.702581 -1859.188568 59980.060660 3 # 45 -122.065074 36.702326 -1630.888336 63388.523491 3 # 46 -122.066978 36.703588 -1558.294098 63608.815501 3 # 47 -122.103209 36.703933 -1856.185211 66845.463006 3 # 48 -122.103189 36.705285 -1850.981873 66995.459791 3 # 49 -122.072080 36.704985 -1641.883453 69774.494553 3 # 50 -122.072060 36.706337 -1619.548157 69924.492201 3 # 51 -122.103169 36.706637 -1837.935547 72703.478294 3 # 52 -122.103149 36.707989 -1829.233307 72853.475146 3 # 53 -122.081542 36.707914 -1671.418945 74783.482982 3 # 54 -122.095098 36.694305 -1781.487518 76718.874519 3 # 55 -122.101222 36.694155 -1853.247559 77266.234813 3 # 56 -122.100998 36.709656 -1783.517578 78985.977742 3 # 57 -122.086135 36.709265 -1726.956421 80314.259308 3 # 58 -122.072878 36.692082 -1557.291962 82558.403713 3 # 59 -122.039381 36.691901 -1509.805145 85551.143224 3 # 60 -122.039306 36.690159 -1354.039185 85744.512554 3 # 61 -122.061563 36.690640 -1533.972443 87733.745194 3 # 62 -122.061339 36.700824 -1607.854340 88863.706548 4 # # A total of 858 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 64670; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1855.485825; abortDepth = 1875.485825; minAltitude = 40.000000; abortAltitude = 20.000000; deltaDepthRestart = 20.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1929; 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 62 # Segment length 146.686462 meters # Minimum depth: 1607.854340 meters looking forward 100.000000 meters along route # Maximum depth: 1696.659162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1557.854340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700824; longitude = -122.061339; duration = 293; # abortOnTimeout = True; initialDepth = 1659.434293; finalDepth = 1557.854340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1557.85434 # Seafloor depth: -1607.854340 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 62 # Segment length 109.996546 meters # Minimum depth: 1709.434293 meters looking forward 100.000000 meters along route # Maximum depth: 1723.525807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1659.434293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699502; longitude = -122.061368; duration = 219; initialDepth = 1670.269468; finalDepth = 1659.434293; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1659.434293 # Seafloor depth: -1709.434293 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 109.996527 meters # Minimum depth: 1720.269468 meters looking forward 100.000000 meters along route # Maximum depth: 1722.689734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1670.269468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698511; longitude = -122.061390; duration = 219; initialDepth = 1671.479625; finalDepth = 1670.269468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.743262 # Actual altitude: 51.743262 # Commanded vehicle depth: 1670.269468 # Seafloor depth: -1722.012730 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.52; 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 62 # Segment length 109.996508 meters # Minimum depth: 1721.479625 meters looking forward 100.000000 meters along route # Maximum depth: 1724.873753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1671.479625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697519; longitude = -122.061412; duration = 219; initialDepth = 1674.045594; finalDepth = 1671.479625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.743262 # Actual altitude: 51.743262 # Commanded vehicle depth: 1671.479625 # Seafloor depth: -1722.058222 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.52; 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 62 # Segment length 109.996491 meters # Minimum depth: 1724.045594 meters looking forward 100.000000 meters along route # Maximum depth: 1727.202110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1674.045594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696528; longitude = -122.061433; duration = 219; initialDepth = 1674.967201; finalDepth = 1674.045594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5785969999999 # Actual altitude: 50.5785969999999 # Commanded vehicle depth: 1674.045594 # Seafloor depth: -1724.045594 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.17; 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 62 # Segment length 109.996473 meters # Minimum depth: 1724.967201 meters looking forward 100.000000 meters along route # Maximum depth: 1731.622648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1674.967201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695537; longitude = -122.061455; duration = 219; initialDepth = 1648.549910; finalDepth = 1674.967201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1674.967201 # Seafloor depth: -1724.967201 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 109.996454 meters # Minimum depth: 1698.549910 meters looking forward 100.000000 meters along route # Maximum depth: 1726.013784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1648.549910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694545; longitude = -122.061477; duration = 219; initialDepth = 1619.993343; finalDepth = 1648.549910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.463874 # Actual altitude: 77.463874 # Commanded vehicle depth: 1648.54991 # Seafloor depth: -1726.013784 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.24; 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 62 # Segment length 109.996437 meters # Minimum depth: 1669.993343 meters looking forward 100.000000 meters along route # Maximum depth: 1695.515410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1619.993343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693554; longitude = -122.061499; duration = 219; initialDepth = 1563.346228; finalDepth = 1619.993343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.463874 # Actual altitude: 77.463874 # Commanded vehicle depth: 1619.993343 # Seafloor depth: -1695.515410 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.24; 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 62 # Segment length 109.996418 meters # Minimum depth: 1613.346228 meters looking forward 100.000000 meters along route # Maximum depth: 1666.259719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1563.346228 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692562; longitude = -122.061521; duration = 219; initialDepth = 1487.197727; finalDepth = 1563.346228; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.913491 # Actual altitude: 100 # Commanded vehicle depth: 1563.346228 # Seafloor depth: -1666.259719 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 62 # Segment length 103.303038 meters # Minimum depth: 1537.197727 meters looking forward 100.000000 meters along route # Maximum depth: 1607.507411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1487.197727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691571; longitude = -122.061543; duration = 206; initialDepth = 1480.431278; finalDepth = 1487.197727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 120.309684 # Actual altitude: 100 # Commanded vehicle depth: 1487.197727 # Seafloor depth: -1607.507411 # 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 = 25; 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 61 # Segment length 83.424153 meters # Minimum depth: 1530.431278 meters looking forward 100.000000 meters along route # Maximum depth: 1541.649495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1480.431278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690640; longitude = -122.061563; duration = 166; # abortOnTimeout = True; initialDepth = 1490.129242; finalDepth = 1480.431278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 120.309684 # Actual altitude: 100 # Commanded vehicle depth: 1480.431278 # Seafloor depth: -1533.972443 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.128371 meters # Minimum depth: 1540.129242 meters looking forward 100.000000 meters along route # Maximum depth: 1550.129577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1490.129242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690620; longitude = -122.060630; duration = 200; initialDepth = 1457.638574; finalDepth = 1490.129242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5411650000001 # Actual altitude: 53.5411650000001 # Commanded vehicle depth: 1490.129242 # Seafloor depth: -1540.155025 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.128423 meters # Minimum depth: 1507.638574 meters looking forward 100.000000 meters along route # Maximum depth: 1548.701581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1457.638574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690596; longitude = -122.059509; duration = 200; initialDepth = 1432.255065; finalDepth = 1457.638574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.063007 # Actual altitude: 91.063007 # Commanded vehicle depth: 1457.638574 # Seafloor depth: -1548.701581 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.32; 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 61 # Segment length 100.128476 meters # Minimum depth: 1482.255065 meters looking forward 100.000000 meters along route # Maximum depth: 1506.620947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1432.255065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690571; longitude = -122.058389; duration = 200; initialDepth = 1441.208486; finalDepth = 1432.255065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.063007 # Actual altitude: 91.063007 # Commanded vehicle depth: 1432.255065 # Seafloor depth: -1506.620947 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.32; 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 61 # Segment length 100.128528 meters # Minimum depth: 1491.208486 meters looking forward 100.000000 meters along route # Maximum depth: 1504.162978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1441.208486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690547; longitude = -122.057269; duration = 200; initialDepth = 1459.400387; finalDepth = 1441.208486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.3658819999998 # Actual altitude: 74.3658819999998 # Commanded vehicle depth: 1441.208486 # Seafloor depth: -1493.997849 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.31; 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 61 # Segment length 100.128580 meters # Minimum depth: 1509.400387 meters looking forward 100.000000 meters along route # Maximum depth: 1531.851827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1459.400387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690523; longitude = -122.056148; duration = 200; initialDepth = 1481.944791; finalDepth = 1459.400387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7893630000001 # Actual altitude: 52.7893630000001 # Commanded vehicle depth: 1459.400387 # Seafloor depth: -1510.710771 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.128632 meters # Minimum depth: 1531.944791 meters looking forward 100.000000 meters along route # Maximum depth: 1552.925418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1481.944791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690499; longitude = -122.055028; duration = 200; initialDepth = 1503.093662; finalDepth = 1481.944791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3103840000001 # Actual altitude: 51.3103840000001 # Commanded vehicle depth: 1481.944791 # Seafloor depth: -1531.944791 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.39; 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 61 # Segment length 100.128684 meters # Minimum depth: 1553.093662 meters looking forward 100.000000 meters along route # Maximum depth: 1566.009828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1503.093662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690475; longitude = -122.053908; duration = 200; initialDepth = 1510.420100; finalDepth = 1503.093662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1503.093662 # Seafloor depth: -1553.093662 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 61 # Segment length 100.128737 meters # Minimum depth: 1560.420100 meters looking forward 100.000000 meters along route # Maximum depth: 1564.754273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1510.420100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690450; longitude = -122.052787; duration = 200; initialDepth = 1494.868977; finalDepth = 1510.420100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.557315 # Actual altitude: 53.557315 # Commanded vehicle depth: 1510.4201 # Seafloor depth: -1563.977415 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.07; 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 61 # Segment length 100.128789 meters # Minimum depth: 1544.868977 meters looking forward 100.000000 meters along route # Maximum depth: 1557.961460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1494.868977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690426; longitude = -122.051667; duration = 200; initialDepth = 1487.070670; finalDepth = 1494.868977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0924829999999 # Actual altitude: 63.0924829999999 # Commanded vehicle depth: 1494.868977 # Seafloor depth: -1557.961460 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.128841 meters # Minimum depth: 1537.070670 meters looking forward 100.000000 meters along route # Maximum depth: 1543.820273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1487.070670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690402; longitude = -122.050547; duration = 200; initialDepth = 1456.673933; finalDepth = 1487.070670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0924829999999 # Actual altitude: 63.0924829999999 # Commanded vehicle depth: 1487.07067 # Seafloor depth: -1543.820273 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.128894 meters # Minimum depth: 1506.673933 meters looking forward 100.000000 meters along route # Maximum depth: 1535.552823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1456.673933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690378; longitude = -122.049426; duration = 200; initialDepth = 1398.493049; finalDepth = 1456.673933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.87889 # Actual altitude: 78.87889 # Commanded vehicle depth: 1456.673933 # Seafloor depth: -1535.552823 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.66; 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 61 # Segment length 100.128946 meters # Minimum depth: 1448.493049 meters looking forward 100.000000 meters along route # Maximum depth: 1498.390243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1398.493049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690354; longitude = -122.048306; duration = 200; initialDepth = 1395.300009; finalDepth = 1398.493049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.8971940000001 # Actual altitude: 99.8971940000001 # Commanded vehicle depth: 1398.493049 # Seafloor depth: -1498.390243 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.97; 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 61 # Segment length 100.128998 meters # Minimum depth: 1445.300009 meters looking forward 100.000000 meters along route # Maximum depth: 1448.926038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1395.300009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690329; longitude = -122.047186; duration = 200; initialDepth = 1363.471765; finalDepth = 1395.300009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.8971940000001 # Actual altitude: 99.8971940000001 # Commanded vehicle depth: 1395.300009 # Seafloor depth: -1448.760347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.97; 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 61 # Segment length 100.129051 meters # Minimum depth: 1413.471765 meters looking forward 100.000000 meters along route # Maximum depth: 1438.301763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1363.471765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690305; longitude = -122.046065; duration = 200; initialDepth = 1363.012717; finalDepth = 1363.471765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8299979999999 # Actual altitude: 74.8299979999999 # Commanded vehicle depth: 1363.471765 # Seafloor depth: -1438.301763 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.129103 meters # Minimum depth: 1413.012717 meters looking forward 100.000000 meters along route # Maximum depth: 1426.765308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1363.012717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690281; longitude = -122.044945; duration = 200; initialDepth = 1348.371041; finalDepth = 1363.012717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.8299979999999 # Actual altitude: 74.8299979999999 # Commanded vehicle depth: 1363.012717 # Seafloor depth: -1413.012717 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.129156 meters # Minimum depth: 1398.371041 meters looking forward 100.000000 meters along route # Maximum depth: 1417.675753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1348.371041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690257; longitude = -122.043825; duration = 200; initialDepth = 1347.064733; finalDepth = 1348.371041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.3047119999999 # Actual altitude: 69.3047119999999 # Commanded vehicle depth: 1348.371041 # Seafloor depth: -1417.675753 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.129209 meters # Minimum depth: 1397.064733 meters looking forward 100.000000 meters along route # Maximum depth: 1400.955963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1347.064733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690232; longitude = -122.042705; duration = 200; initialDepth = 1319.314642; finalDepth = 1347.064733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.3047119999999 # Actual altitude: 69.3047119999999 # Commanded vehicle depth: 1347.064733 # Seafloor depth: -1397.064733 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 61 # Segment length 100.129260 meters # Minimum depth: 1369.314642 meters looking forward 100.000000 meters along route # Maximum depth: 1400.503662 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1319.314642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690208; longitude = -122.041584; duration = 200; initialDepth = 1303.572941; finalDepth = 1319.314642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.18902 # Actual altitude: 81.18902 # Commanded vehicle depth: 1319.314642 # Seafloor depth: -1400.503662 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.36; 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 61 # Segment length 103.489809 meters # Minimum depth: 1353.572941 meters looking forward 100.000000 meters along route # Maximum depth: 1374.821698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1303.572941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690184; longitude = -122.040464; duration = 206; initialDepth = 1303.572941; finalDepth = 1303.572941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 81.18902 # Actual altitude: 81.18902 # Commanded vehicle depth: 1303.572941 # Seafloor depth: -1374.821698 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.36; 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; } # ####################################################### # # 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 60 # Segment length 86.713271 meters # Minimum depth: 1353.572941 meters looking forward 100.000000 meters along route # Maximum depth: 1425.220370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1303.572941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690159; longitude = -122.039306; duration = 173; # abortOnTimeout = True; initialDepth = 1366.573819; finalDepth = 1303.572941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.2487570000001 # Actual altitude: 71.2487570000001 # Commanded vehicle depth: 1303.572941 # Seafloor depth: -1354.039185 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.37; 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 60 # Segment length 106.656059 meters # Minimum depth: 1426.716199 meters looking forward 100.000000 meters along route # Maximum depth: 1506.511589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1366.573819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.690940; longitude = -122.039340; duration = 213; initialDepth = 1444.063980; finalDepth = 1366.573819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.1423802960262 # Actual altitude: 60.1423802960262 # Commanded vehicle depth: 1366.57381870397 # Seafloor depth: -1426.716199 # 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 = 25; 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; } # ####################################################### # # 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 59 # Segment length 86.742456 meters # Minimum depth: 1506.511589 meters looking forward 100.000000 meters along route # Maximum depth: 1517.782833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1444.063980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691901; longitude = -122.039381; duration = 173; # abortOnTimeout = True; initialDepth = 1470.796053; finalDepth = 1444.063980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7411653096319 # Actual altitude: 65.7411653096319 # Commanded vehicle depth: 1444.06397969037 # Seafloor depth: -1509.805145 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.093264 meters # Minimum depth: 1520.796053 meters looking forward 100.000000 meters along route # Maximum depth: 1530.325558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1470.796053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691906; longitude = -122.040352; duration = 200; initialDepth = 1482.682335; finalDepth = 1470.796053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.7411653096319 # Actual altitude: 65.7411653096319 # Commanded vehicle depth: 1470.796053 # Seafloor depth: -1521.156119 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.093234 meters # Minimum depth: 1532.682335 meters looking forward 100.000000 meters along route # Maximum depth: 1539.860636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1482.682335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691912; longitude = -122.041472; duration = 200; initialDepth = 1489.939020; finalDepth = 1482.682335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.360066 # Actual altitude: 50.360066 # Commanded vehicle depth: 1482.682335 # Seafloor depth: -1532.682335 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.11; 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 59 # Segment length 100.093206 meters # Minimum depth: 1539.939020 meters looking forward 100.000000 meters along route # Maximum depth: 1546.489558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1489.939020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691918; longitude = -122.042593; duration = 200; initialDepth = 1498.761330; finalDepth = 1489.939020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.258761 # Actual altitude: 50.258761 # Commanded vehicle depth: 1489.93902 # Seafloor depth: -1540.197781 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.08; 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 59 # Segment length 100.093177 meters # Minimum depth: 1548.761330 meters looking forward 100.000000 meters along route # Maximum depth: 1558.436188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1498.761330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691924; longitude = -122.043713; duration = 200; initialDepth = 1507.265276; finalDepth = 1498.761330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.546711 # Actual altitude: 52.546711 # Commanded vehicle depth: 1498.76133 # Seafloor depth: -1551.308041 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; 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 59 # Segment length 100.093148 meters # Minimum depth: 1557.265276 meters looking forward 100.000000 meters along route # Maximum depth: 1570.906427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1507.265276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691930; longitude = -122.044833; duration = 200; initialDepth = 1522.436151; finalDepth = 1507.265276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.546711 # Actual altitude: 52.546711 # Commanded vehicle depth: 1507.265276 # Seafloor depth: -1558.801140 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; 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 59 # Segment length 100.093119 meters # Minimum depth: 1572.436151 meters looking forward 100.000000 meters along route # Maximum depth: 1589.451395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1522.436151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691937; longitude = -122.045953; duration = 200; initialDepth = 1540.951169; finalDepth = 1522.436151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5358639999999 # Actual altitude: 51.5358639999999 # Commanded vehicle depth: 1522.436151 # Seafloor depth: -1572.436151 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; 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 59 # Segment length 100.093090 meters # Minimum depth: 1590.951169 meters looking forward 100.000000 meters along route # Maximum depth: 1606.340426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1540.951169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691943; longitude = -122.047074; duration = 200; initialDepth = 1555.749695; finalDepth = 1540.951169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1540.951169 # Seafloor depth: -1590.951169 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.093061 meters # Minimum depth: 1605.749695 meters looking forward 100.000000 meters along route # Maximum depth: 1625.882035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1555.749695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691949; longitude = -122.048194; duration = 200; initialDepth = 1575.319299; finalDepth = 1555.749695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1555.749695 # Seafloor depth: -1605.749695 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.093033 meters # Minimum depth: 1625.319299 meters looking forward 100.000000 meters along route # Maximum depth: 1638.007260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1575.319299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691955; longitude = -122.049314; duration = 200; initialDepth = 1583.497681; finalDepth = 1575.319299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1575.319299 # Seafloor depth: -1625.319299 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.093003 meters # Minimum depth: 1633.497681 meters looking forward 100.000000 meters along route # Maximum depth: 1643.368187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1583.497681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691961; longitude = -122.050435; duration = 200; initialDepth = 1594.174868; finalDepth = 1583.497681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.324732 # Actual altitude: 51.324732 # Commanded vehicle depth: 1583.497681 # Seafloor depth: -1634.822413 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.40; 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 59 # Segment length 100.092975 meters # Minimum depth: 1644.174868 meters looking forward 100.000000 meters along route # Maximum depth: 1653.980409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1594.174868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691967; longitude = -122.051555; duration = 200; initialDepth = 1606.300642; finalDepth = 1594.174868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.324732 # Actual altitude: 51.324732 # Commanded vehicle depth: 1594.174868 # Seafloor depth: -1644.174868 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.40; 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 59 # Segment length 100.092946 meters # Minimum depth: 1656.300642 meters looking forward 100.000000 meters along route # Maximum depth: 1661.756201 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1606.300642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691973; longitude = -122.052675; duration = 200; initialDepth = 1593.554920; finalDepth = 1606.300642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.251477 # Actual altitude: 50.251477 # Commanded vehicle depth: 1606.300642 # Seafloor depth: -1656.552119 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.08; 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 59 # Segment length 100.092918 meters # Minimum depth: 1643.554920 meters looking forward 100.000000 meters along route # Maximum depth: 1660.578338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1593.554920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691979; longitude = -122.053796; duration = 200; initialDepth = 1568.900862; finalDepth = 1593.554920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.890641 # Actual altitude: 66.890641 # Commanded vehicle depth: 1593.55492 # Seafloor depth: -1660.445561 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092889 meters # Minimum depth: 1618.900862 meters looking forward 100.000000 meters along route # Maximum depth: 1642.800473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1568.900862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691985; longitude = -122.054916; duration = 200; initialDepth = 1544.066763; finalDepth = 1568.900862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.899611 # Actual altitude: 73.899611 # Commanded vehicle depth: 1568.900862 # Seafloor depth: -1642.800473 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.17; 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 59 # Segment length 100.092860 meters # Minimum depth: 1594.066763 meters looking forward 100.000000 meters along route # Maximum depth: 1621.566730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1544.066763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691991; longitude = -122.056036; duration = 200; initialDepth = 1531.070725; finalDepth = 1544.066763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.499967 # Actual altitude: 77.499967 # Commanded vehicle depth: 1544.066763 # Seafloor depth: -1621.566730 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092831 meters # Minimum depth: 1581.070725 meters looking forward 100.000000 meters along route # Maximum depth: 1591.909746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1531.070725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.691997; longitude = -122.057157; duration = 200; initialDepth = 1543.159787; finalDepth = 1531.070725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.499967 # Actual altitude: 77.499967 # Commanded vehicle depth: 1531.070725 # Seafloor depth: -1588.869317 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092803 meters # Minimum depth: 1593.159787 meters looking forward 100.000000 meters along route # Maximum depth: 1603.766528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1543.159787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692003; longitude = -122.058277; duration = 200; initialDepth = 1558.846237; finalDepth = 1543.159787; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7985919999999 # Actual altitude: 57.7985919999999 # Commanded vehicle depth: 1543.159787 # Seafloor depth: -1593.159787 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.34; 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 59 # Segment length 100.092774 meters # Minimum depth: 1608.846237 meters looking forward 100.000000 meters along route # Maximum depth: 1624.816822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1558.846237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692009; longitude = -122.059397; duration = 200; initialDepth = 1573.214793; finalDepth = 1558.846237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1558.846237 # Seafloor depth: -1608.846237 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.092746 meters # Minimum depth: 1623.214793 meters looking forward 100.000000 meters along route # Maximum depth: 1638.971902 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1573.214793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692015; longitude = -122.060518; duration = 200; initialDepth = 1568.224335; finalDepth = 1573.214793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1573.214793 # Seafloor depth: -1623.214793 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 59 # Segment length 100.092717 meters # Minimum depth: 1618.224335 meters looking forward 100.000000 meters along route # Maximum depth: 1644.206548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1568.224335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692021; longitude = -122.061638; duration = 200; initialDepth = 1582.376619; finalDepth = 1568.224335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5818579999998 # Actual altitude: 63.5818579999998 # Commanded vehicle depth: 1568.224335 # Seafloor depth: -1631.806193 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.07; 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 59 # Segment length 100.092689 meters # Minimum depth: 1632.376619 meters looking forward 100.000000 meters along route # Maximum depth: 1638.362612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1582.376619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692027; longitude = -122.062758; duration = 200; initialDepth = 1570.273117; finalDepth = 1582.376619; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5818579999998 # Actual altitude: 63.5818579999998 # Commanded vehicle depth: 1582.376619 # Seafloor depth: -1636.468748 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.07; 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 59 # Segment length 100.092660 meters # Minimum depth: 1620.273117 meters looking forward 100.000000 meters along route # Maximum depth: 1638.152035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1570.273117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692033; longitude = -122.063878; duration = 200; initialDepth = 1560.769919; finalDepth = 1570.273117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.8060359999999 # Actual altitude: 67.8060359999999 # Commanded vehicle depth: 1570.273117 # Seafloor depth: -1638.079153 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092631 meters # Minimum depth: 1610.769919 meters looking forward 100.000000 meters along route # Maximum depth: 1620.738964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1560.769919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692039; longitude = -122.064999; duration = 200; initialDepth = 1554.965837; finalDepth = 1560.769919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.8060359999999 # Actual altitude: 67.8060359999999 # Commanded vehicle depth: 1560.769919 # Seafloor depth: -1620.225116 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092603 meters # Minimum depth: 1604.965837 meters looking forward 100.000000 meters along route # Maximum depth: 1614.065402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1554.965837 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692045; longitude = -122.066119; duration = 200; initialDepth = 1547.893908; finalDepth = 1554.965837; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.455197 # Actual altitude: 59.455197 # Commanded vehicle depth: 1554.965837 # Seafloor depth: -1612.347843 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092575 meters # Minimum depth: 1597.893908 meters looking forward 100.000000 meters along route # Maximum depth: 1608.045249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1547.893908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692052; longitude = -122.067239; duration = 200; initialDepth = 1533.421672; finalDepth = 1547.893908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.956768 # Actual altitude: 57.956768 # Commanded vehicle depth: 1547.893908 # Seafloor depth: -1605.850676 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092547 meters # Minimum depth: 1583.421672 meters looking forward 100.000000 meters along route # Maximum depth: 1595.535505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1533.421672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692058; longitude = -122.068360; duration = 200; initialDepth = 1524.529185; finalDepth = 1533.421672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.680773 # Actual altitude: 61.680773 # Commanded vehicle depth: 1533.421672 # Seafloor depth: -1595.102445 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092517 meters # Minimum depth: 1574.529185 meters looking forward 100.000000 meters along route # Maximum depth: 1588.136250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1524.529185 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692064; longitude = -122.069480; duration = 200; initialDepth = 1504.849084; finalDepth = 1524.529185; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.0473519999998 # Actual altitude: 63.0473519999998 # Commanded vehicle depth: 1524.529185 # Seafloor depth: -1587.576537 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 100.092490 meters # Minimum depth: 1554.849084 meters looking forward 100.000000 meters along route # Maximum depth: 1572.758013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1504.849084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692070; longitude = -122.070600; duration = 200; initialDepth = 1490.437225; finalDepth = 1504.849084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.9089289999999 # Actual altitude: 67.9089289999999 # Commanded vehicle depth: 1504.849084 # Seafloor depth: -1572.758013 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 59 # Segment length 103.396549 meters # Minimum depth: 1540.437225 meters looking forward 100.000000 meters along route # Maximum depth: 1569.652208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1490.437225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692076; longitude = -122.071721; duration = 206; initialDepth = 1507.291962; finalDepth = 1490.437225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 72.667453 # Actual altitude: 72.667453 # Commanded vehicle depth: 1490.437225 # Seafloor depth: -1563.104678 # 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 = 25; 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; } # ####################################################### # # 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 58 # Segment length 126.496222 meters # Minimum depth: 1557.291962 meters looking forward 100.000000 meters along route # Maximum depth: 1618.604474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1507.291962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.692082; longitude = -122.072878; duration = 252; # abortOnTimeout = True; initialDepth = 1568.323370; finalDepth = 1507.291962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.667453 # Actual altitude: 72.667453 # Commanded vehicle depth: 1507.291962 # Seafloor depth: -1557.291962 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 101.038440 meters # Minimum depth: 1618.323370 meters looking forward 100.000000 meters along route # Maximum depth: 1660.497661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1568.323370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693051; longitude = -122.073625; duration = 202; initialDepth = 1612.506369; finalDepth = 1568.323370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1568.32337 # Seafloor depth: -1618.323370 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 107.578289 meters # Minimum depth: 1662.506369 meters looking forward 100.000000 meters along route # Maximum depth: 1701.438566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1612.506369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693824; longitude = -122.074222; duration = 215; initialDepth = 1650.860272; finalDepth = 1612.506369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1370810000001 # Actual altitude: 52.1370810000001 # Commanded vehicle depth: 1612.506369 # Seafloor depth: -1664.643450 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.64; 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 58 # Segment length 104.294289 meters # Minimum depth: 1700.860272 meters looking forward 100.000000 meters along route # Maximum depth: 1732.352510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1650.860272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694648; longitude = -122.074858; duration = 208; initialDepth = 1680.756138; finalDepth = 1650.860272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1370810000001 # Actual altitude: 52.1370810000001 # Commanded vehicle depth: 1650.860272 # Seafloor depth: -1702.478845 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.64; 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 58 # Segment length 105.935822 meters # Minimum depth: 1730.756138 meters looking forward 100.000000 meters along route # Maximum depth: 1757.196795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1680.756138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695446; longitude = -122.075474; duration = 211; initialDepth = 1707.411050; finalDepth = 1680.756138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6185730000002 # Actual altitude: 51.6185730000002 # Commanded vehicle depth: 1680.756138 # Seafloor depth: -1730.756138 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.49; 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 58 # Segment length 105.935509 meters # Minimum depth: 1757.411050 meters looking forward 100.000000 meters along route # Maximum depth: 1773.912571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1707.411050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696257; longitude = -122.076099; duration = 211; initialDepth = 1724.356595; finalDepth = 1707.411050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1902220000002 # Actual altitude: 50.1902220000002 # Commanded vehicle depth: 1707.41105 # Seafloor depth: -1757.601272 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.06; 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 58 # Segment length 105.935198 meters # Minimum depth: 1774.356595 meters looking forward 100.000000 meters along route # Maximum depth: 1791.413738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1724.356595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697069; longitude = -122.076725; duration = 211; initialDepth = 1737.722217; finalDepth = 1724.356595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1902220000002 # Actual altitude: 50.1902220000002 # Commanded vehicle depth: 1724.356595 # Seafloor depth: -1774.356595 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.06; 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 58 # Segment length 108.918127 meters # Minimum depth: 1787.722217 meters looking forward 100.000000 meters along route # Maximum depth: 1794.879859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1737.722217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697880; longitude = -122.077351; duration = 217; initialDepth = 1740.392169; finalDepth = 1737.722217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3075449999999 # Actual altitude: 52.3075449999999 # Commanded vehicle depth: 1737.722217 # Seafloor depth: -1790.029762 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; 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 58 # Segment length 102.951334 meters # Minimum depth: 1790.392169 meters looking forward 100.000000 meters along route # Maximum depth: 1801.058783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1740.392169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698714; longitude = -122.077994; duration = 205; initialDepth = 1741.969135; finalDepth = 1740.392169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8529060000001 # Actual altitude: 53.8529060000001 # Commanded vehicle depth: 1740.392169 # Seafloor depth: -1794.245075 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 105.934262 meters # Minimum depth: 1791.969135 meters looking forward 100.000000 meters along route # Maximum depth: 1798.486605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1741.969135 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699502; longitude = -122.078603; duration = 211; initialDepth = 1741.189330; finalDepth = 1741.969135; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8529060000001 # Actual altitude: 53.8529060000001 # Commanded vehicle depth: 1741.969135 # Seafloor depth: -1793.787775 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 105.933951 meters # Minimum depth: 1791.189330 meters looking forward 100.000000 meters along route # Maximum depth: 1802.076219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1741.189330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700313; longitude = -122.079228; duration = 211; initialDepth = 1744.624892; finalDepth = 1741.189330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2056670000002 # Actual altitude: 52.2056670000002 # Commanded vehicle depth: 1741.18933 # Seafloor depth: -1793.394997 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 105.933640 meters # Minimum depth: 1794.624892 meters looking forward 100.000000 meters along route # Maximum depth: 1800.165474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1744.624892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701124; longitude = -122.079854; duration = 211; initialDepth = 1742.996269; finalDepth = 1744.624892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7774010000001 # Actual altitude: 54.7774010000001 # Commanded vehicle depth: 1744.624892 # Seafloor depth: -1799.402293 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 110.257925 meters # Minimum depth: 1792.996269 meters looking forward 100.000000 meters along route # Maximum depth: 1803.878806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1742.996269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701935; longitude = -122.080480; duration = 220; initialDepth = 1744.910265; finalDepth = 1742.996269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6582089999999 # Actual altitude: 57.6582089999999 # Commanded vehicle depth: 1742.996269 # Seafloor depth: -1800.654478 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 101.608418 meters # Minimum depth: 1794.910265 meters looking forward 100.000000 meters along route # Maximum depth: 1807.133582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1744.910265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702780; longitude = -122.081131; duration = 203; initialDepth = 1741.055707; finalDepth = 1744.910265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.6582089999999 # Actual altitude: 57.6582089999999 # Commanded vehicle depth: 1744.910265 # Seafloor depth: -1797.782031 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 107.000948 meters # Minimum depth: 1791.055707 meters looking forward 100.000000 meters along route # Maximum depth: 1800.037580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1741.055707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703558; longitude = -122.081732; duration = 214; initialDepth = 1727.874661; finalDepth = 1741.055707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.470108 # Actual altitude: 55.470108 # Commanded vehicle depth: 1741.055707 # Seafloor depth: -1796.525815 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 104.864149 meters # Minimum depth: 1777.874661 meters looking forward 100.000000 meters along route # Maximum depth: 1805.864282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1727.874661 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704377; longitude = -122.082364; duration = 209; initialDepth = 1716.088041; finalDepth = 1727.874661; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.2226969999999 # Actual altitude: 63.2226969999999 # Commanded vehicle depth: 1727.874661 # Seafloor depth: -1791.097358 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 58 # Segment length 105.932081 meters # Minimum depth: 1766.088041 meters looking forward 100.000000 meters along route # Maximum depth: 1783.355611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1716.088041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705180; longitude = -122.082983; duration = 211; initialDepth = 1700.301016; finalDepth = 1716.088041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.26757 # Actual altitude: 67.26757 # Commanded vehicle depth: 1716.088041 # Seafloor depth: -1783.355611 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.18; 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 58 # Segment length 111.597685 meters # Minimum depth: 1750.301016 meters looking forward 100.000000 meters along route # Maximum depth: 1770.910272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1700.301016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705991; longitude = -122.083609; duration = 223; initialDepth = 1684.728408; finalDepth = 1700.301016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.26757 # Actual altitude: 67.26757 # Commanded vehicle depth: 1700.301016 # Seafloor depth: -1765.597571 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.18; 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 58 # Segment length 100.265541 meters # Minimum depth: 1734.728408 meters looking forward 100.000000 meters along route # Maximum depth: 1768.593631 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1684.728408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706845; longitude = -122.084268; duration = 200; initialDepth = 1665.409903; finalDepth = 1684.728408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3992560000002 # Actual altitude: 80.3992560000002 # Commanded vehicle depth: 1684.728408 # Seafloor depth: -1765.127664 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.12; 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 58 # Segment length 108.340748 meters # Minimum depth: 1715.409903 meters looking forward 100.000000 meters along route # Maximum depth: 1739.435411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1665.409903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707613; longitude = -122.084861; duration = 216; initialDepth = 1663.008683; finalDepth = 1665.409903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.3992560000002 # Actual altitude: 80.3992560000002 # Commanded vehicle depth: 1665.409903 # Seafloor depth: -1739.435411 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.12; 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 58 # Segment length 107.391827 meters # Minimum depth: 1713.008683 meters looking forward 100.000000 meters along route # Maximum depth: 1725.275021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1663.008683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708443; longitude = -122.085501; duration = 214; initialDepth = 1676.956421; finalDepth = 1663.008683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 74.0255079999999 # Actual altitude: 74.0255079999999 # Commanded vehicle depth: 1663.008683 # Seafloor depth: -1715.505959 # 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 = 25; 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; } # ####################################################### # # 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 57 # Segment length 123.520385 meters # Minimum depth: 1726.956421 meters looking forward 100.000000 meters along route # Maximum depth: 1752.496435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1676.956421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709265; longitude = -122.086135; duration = 247; # abortOnTimeout = True; initialDepth = 1699.847928; finalDepth = 1676.956421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4972760000001 # Actual altitude: 52.4972760000001 # Commanded vehicle depth: 1676.956421 # Seafloor depth: -1726.956421 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 100.120972 meters # Minimum depth: 1749.847928 meters looking forward 100.000000 meters along route # Maximum depth: 1762.825274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1699.847928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709301; longitude = -122.087517; duration = 200; initialDepth = 1699.801052; finalDepth = 1699.847928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.395745 # Actual altitude: 51.395745 # Commanded vehicle depth: 1699.847928 # Seafloor depth: -1751.243673 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.42; 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 57 # Segment length 100.120913 meters # Minimum depth: 1749.801052 meters looking forward 100.000000 meters along route # Maximum depth: 1760.952798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1699.801052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709331; longitude = -122.088637; duration = 200; initialDepth = 1705.957600; finalDepth = 1699.801052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.041164 # Actual altitude: 53.041164 # Commanded vehicle depth: 1699.801052 # Seafloor depth: -1752.842216 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.91; 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 57 # Segment length 100.120855 meters # Minimum depth: 1755.957600 meters looking forward 100.000000 meters along route # Maximum depth: 1764.366728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1705.957600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709360; longitude = -122.089758; duration = 200; initialDepth = 1705.772300; finalDepth = 1705.957600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.041164 # Actual altitude: 53.041164 # Commanded vehicle depth: 1705.9576 # Seafloor depth: -1757.814541 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.91; 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 57 # Segment length 100.120797 meters # Minimum depth: 1755.772300 meters looking forward 100.000000 meters along route # Maximum depth: 1768.488106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1705.772300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709390; longitude = -122.090878; duration = 200; initialDepth = 1716.700810; finalDepth = 1705.772300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.856941 # Actual altitude: 51.856941 # Commanded vehicle depth: 1705.7723 # Seafloor depth: -1755.772300 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.56; 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 57 # Segment length 100.120739 meters # Minimum depth: 1766.700810 meters looking forward 100.000000 meters along route # Maximum depth: 1774.276607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1716.700810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709419; longitude = -122.091998; duration = 200; initialDepth = 1727.711264; finalDepth = 1716.700810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.665448 # Actual altitude: 54.665448 # Commanded vehicle depth: 1716.70081 # Seafloor depth: -1771.366258 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.40; 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 57 # Segment length 100.120680 meters # Minimum depth: 1777.711264 meters looking forward 100.000000 meters along route # Maximum depth: 1786.695428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1727.711264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709449; longitude = -122.093119; duration = 200; initialDepth = 1732.154028; finalDepth = 1727.711264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.665448 # Actual altitude: 54.665448 # Commanded vehicle depth: 1727.711264 # Seafloor depth: -1777.711264 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.40; 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 57 # Segment length 100.120623 meters # Minimum depth: 1782.154028 meters looking forward 100.000000 meters along route # Maximum depth: 1791.214705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1732.154028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709478; longitude = -122.094239; duration = 200; initialDepth = 1730.563668; finalDepth = 1732.154028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1732.154028 # Seafloor depth: -1782.154028 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 100.120564 meters # Minimum depth: 1780.563668 meters looking forward 100.000000 meters along route # Maximum depth: 1788.018992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1730.563668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709508; longitude = -122.095359; duration = 200; initialDepth = 1730.568036; finalDepth = 1730.563668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6985119999999 # Actual altitude: 52.6985119999999 # Commanded vehicle depth: 1730.563668 # Seafloor depth: -1783.262180 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.81; 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 57 # Segment length 100.120506 meters # Minimum depth: 1780.568036 meters looking forward 100.000000 meters along route # Maximum depth: 1787.598421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1730.568036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709537; longitude = -122.096480; duration = 200; initialDepth = 1730.711329; finalDepth = 1730.568036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6985119999999 # Actual altitude: 52.6985119999999 # Commanded vehicle depth: 1730.568036 # Seafloor depth: -1780.568036 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.81; 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 57 # Segment length 100.120448 meters # Minimum depth: 1780.711329 meters looking forward 100.000000 meters along route # Maximum depth: 1786.795794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1730.711329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709567; longitude = -122.097600; duration = 200; initialDepth = 1726.050380; finalDepth = 1730.711329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0844649999999 # Actual altitude: 56.0844649999999 # Commanded vehicle depth: 1730.711329 # Seafloor depth: -1786.795794 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.83; 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 57 # Segment length 100.120390 meters # Minimum depth: 1776.050380 meters looking forward 100.000000 meters along route # Maximum depth: 1781.811378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1726.050380 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709596; longitude = -122.098720; duration = 200; initialDepth = 1724.444163; finalDepth = 1726.050380; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0844649999999 # Actual altitude: 56.0844649999999 # Commanded vehicle depth: 1726.05038 # Seafloor depth: -1780.678093 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.83; 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 57 # Segment length 103.433694 meters # Minimum depth: 1774.444163 meters looking forward 100.000000 meters along route # Maximum depth: 1784.822507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1724.444163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709626; longitude = -122.099841; duration = 206; initialDepth = 1731.563273; finalDepth = 1724.444163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.6277130000001 # Actual altitude: 54.6277130000001 # Commanded vehicle depth: 1724.444163 # Seafloor depth: -1775.633991 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.39; 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; } # ####################################################### # # 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 56 # Segment length 76.663468 meters # Minimum depth: 1781.563273 meters looking forward 100.000000 meters along route # Maximum depth: 1788.792962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1731.563273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709656; longitude = -122.100998; duration = 153; # abortOnTimeout = True; initialDepth = 1738.836821; finalDepth = 1731.563273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.954305 # Actual altitude: 51.954305 # Commanded vehicle depth: 1731.563273 # Seafloor depth: -1783.517578 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 56 # Segment length 109.986125 meters # Minimum depth: 1788.836821 meters looking forward 100.000000 meters along route # Maximum depth: 1821.951148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1738.836821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708965; longitude = -122.101008; duration = 219; initialDepth = 1775.517319; finalDepth = 1738.836821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.954305 # Actual altitude: 51.954305 # Commanded vehicle depth: 1738.836821 # Seafloor depth: -1788.836821 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 56 # Segment length 109.986106 meters # Minimum depth: 1825.517319 meters looking forward 100.000000 meters along route # Maximum depth: 1839.631744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1775.517319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707974; longitude = -122.101022; duration = 219; initialDepth = 1788.683102; finalDepth = 1775.517319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1775.517319 # Seafloor depth: -1825.517319 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 109.986089 meters # Minimum depth: 1838.683102 meters looking forward 100.000000 meters along route # Maximum depth: 1846.890240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1788.683102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706982; longitude = -122.101037; duration = 219; initialDepth = 1793.050271; finalDepth = 1788.683102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.821242 # Actual altitude: 50.821242 # Commanded vehicle depth: 1788.683102 # Seafloor depth: -1839.504344 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.25; 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 56 # Segment length 109.986070 meters # Minimum depth: 1843.050271 meters looking forward 100.000000 meters along route # Maximum depth: 1853.883993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1793.050271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705991; longitude = -122.101051; duration = 219; initialDepth = 1797.991946; finalDepth = 1793.050271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8988849999998 # Actual altitude: 51.8988849999998 # Commanded vehicle depth: 1793.050271 # Seafloor depth: -1844.949156 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.57; 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 56 # Segment length 109.986052 meters # Minimum depth: 1847.991946 meters looking forward 100.000000 meters along route # Maximum depth: 1855.210954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1797.991946 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705000; longitude = -122.101065; duration = 219; initialDepth = 1803.060394; finalDepth = 1797.991946; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8988849999998 # Actual altitude: 51.8988849999998 # Commanded vehicle depth: 1797.991946 # Seafloor depth: -1848.017560 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.57; 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 56 # Segment length 109.986034 meters # Minimum depth: 1853.060394 meters looking forward 100.000000 meters along route # Maximum depth: 1862.159055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1803.060394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704008; longitude = -122.101080; duration = 219; initialDepth = 1806.612659; finalDepth = 1803.060394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4869779999999 # Actual altitude: 53.4869779999999 # Commanded vehicle depth: 1803.060394 # Seafloor depth: -1856.547372 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.05; 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 56 # Segment length 109.986015 meters # Minimum depth: 1856.612659 meters looking forward 100.000000 meters along route # Maximum depth: 1861.548948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1806.612659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703017; longitude = -122.101094; duration = 219; initialDepth = 1808.222424; finalDepth = 1806.612659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4869779999999 # Actual altitude: 53.4869779999999 # Commanded vehicle depth: 1806.612659 # Seafloor depth: -1859.684393 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.05; 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 56 # Segment length 109.985998 meters # Minimum depth: 1858.222424 meters looking forward 100.000000 meters along route # Maximum depth: 1863.856651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1808.222424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702025; longitude = -122.101108; duration = 219; initialDepth = 1811.904638; finalDepth = 1808.222424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0717340000001 # Actual altitude: 53.0717340000001 # Commanded vehicle depth: 1808.222424 # Seafloor depth: -1858.627072 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; 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 56 # Segment length 109.985979 meters # Minimum depth: 1861.904638 meters looking forward 100.000000 meters along route # Maximum depth: 1864.667379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1811.904638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701034; longitude = -122.101123; duration = 219; initialDepth = 1809.572987; finalDepth = 1811.904638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6846459999999 # Actual altitude: 50.6846459999999 # Commanded vehicle depth: 1811.904638 # Seafloor depth: -1862.589284 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.21; 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 56 # Segment length 109.985961 meters # Minimum depth: 1859.572987 meters looking forward 100.000000 meters along route # Maximum depth: 1873.734258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1809.572987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700043; longitude = -122.101137; duration = 219; initialDepth = 1815.952773; finalDepth = 1809.572987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6846459999999 # Actual altitude: 50.6846459999999 # Commanded vehicle depth: 1809.572987 # Seafloor depth: -1859.572987 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.21; 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 56 # Segment length 109.985942 meters # Minimum depth: 1865.952773 meters looking forward 100.000000 meters along route # Maximum depth: 1872.183269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1815.952773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699051; longitude = -122.101151; duration = 219; initialDepth = 1815.711232; finalDepth = 1815.952773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8667680000001 # Actual altitude: 54.8667680000001 # Commanded vehicle depth: 1815.952773 # Seafloor depth: -1870.819541 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.46; 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 56 # Segment length 109.985925 meters # Minimum depth: 1865.711232 meters looking forward 100.000000 meters along route # Maximum depth: 1872.848819 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1815.711232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698060; longitude = -122.101166; duration = 219; initialDepth = 1817.889629; finalDepth = 1815.711232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8667680000001 # Actual altitude: 54.8667680000001 # Commanded vehicle depth: 1815.711232 # Seafloor depth: -1867.005224 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.46; 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 56 # Segment length 109.985906 meters # Minimum depth: 1867.889629 meters looking forward 100.000000 meters along route # Maximum depth: 1889.405063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1817.889629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697069; longitude = -122.101180; duration = 219; initialDepth = 1814.492016; finalDepth = 1817.889629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8840210000001 # Actual altitude: 51.8840210000001 # Commanded vehicle depth: 1817.889629 # Seafloor depth: -1869.773650 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.57; 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 56 # Segment length 109.985888 meters # Minimum depth: 1864.492016 meters looking forward 100.000000 meters along route # Maximum depth: 1871.963181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1814.492016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696077; longitude = -122.101194; duration = 219; initialDepth = 1803.179065; finalDepth = 1814.492016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4711650000002 # Actual altitude: 57.4711650000002 # Commanded vehicle depth: 1814.492016 # Seafloor depth: -1871.963181 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 56 # Segment length 103.275371 meters # Minimum depth: 1853.179065 meters looking forward 100.000000 meters along route # Maximum depth: 1865.620245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1803.179065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695086; longitude = -122.101209; duration = 206; initialDepth = 1787.160055; finalDepth = 1803.179065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.44118 # Actual altitude: 62.44118 # Commanded vehicle depth: 1803.179065 # Seafloor depth: -1865.620245 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.73; 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; } # ####################################################### # # 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 55 # Segment length 143.494738 meters # Minimum depth: 1837.160055 meters looking forward 100.000000 meters along route # Maximum depth: 1853.247559 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1787.160055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694155; longitude = -122.101222; duration = 286; # abortOnTimeout = True; initialDepth = 1766.521545; finalDepth = 1787.160055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0875039999999 # Actual altitude: 66.0875039999999 # Commanded vehicle depth: 1787.160055 # Seafloor depth: -1853.247559 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.83; 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 55 # Segment length 100.133250 meters # Minimum depth: 1816.521545 meters looking forward 100.000000 meters along route # Maximum depth: 1837.055585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1766.521545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694194; longitude = -122.099617; duration = 200; initialDepth = 1755.250859; finalDepth = 1766.521545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.53404 # Actual altitude: 70.53404 # Commanded vehicle depth: 1766.521545 # Seafloor depth: -1837.055585 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.16; 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 55 # Segment length 100.133235 meters # Minimum depth: 1805.250859 meters looking forward 100.000000 meters along route # Maximum depth: 1821.168221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1755.250859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694222; longitude = -122.098496; duration = 200; initialDepth = 1745.906209; finalDepth = 1755.250859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.53404 # Actual altitude: 70.53404 # Commanded vehicle depth: 1755.250859 # Seafloor depth: -1812.931422 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.16; 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 55 # Segment length 100.133219 meters # Minimum depth: 1795.906209 meters looking forward 100.000000 meters along route # Maximum depth: 1817.933949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1745.906209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694249; longitude = -122.097376; duration = 200; initialDepth = 1734.448278; finalDepth = 1745.906209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.0801449999999 # Actual altitude: 69.0801449999999 # Commanded vehicle depth: 1745.906209 # Seafloor depth: -1814.986354 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.72; 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 55 # Segment length 103.465852 meters # Minimum depth: 1784.448278 meters looking forward 100.000000 meters along route # Maximum depth: 1801.000713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1734.448278 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694277; longitude = -122.096256; duration = 206; initialDepth = 1726.972279; finalDepth = 1734.448278; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.0801449999999 # Actual altitude: 69.0801449999999 # Commanded vehicle depth: 1734.448278 # Seafloor depth: -1793.621774 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.72; 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; } # ####################################################### # # 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 54 # Segment length 85.420899 meters # Minimum depth: 1776.972279 meters looking forward 100.000000 meters along route # Maximum depth: 1787.941322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1726.972279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694305; longitude = -122.095098; duration = 170; # abortOnTimeout = True; initialDepth = 1734.371567; finalDepth = 1726.972279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.1734959999999 # Actual altitude: 59.1734959999999 # Commanded vehicle depth: 1726.972279 # Seafloor depth: -1781.487518 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.538202 meters # Minimum depth: 1784.371567 meters looking forward 100.000000 meters along route # Maximum depth: 1793.583826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1734.371567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694906; longitude = -122.094500; duration = 205; initialDepth = 1712.726628; finalDepth = 1734.371567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6220000000001 # Actual altitude: 55.6220000000001 # Commanded vehicle depth: 1734.371567 # Seafloor depth: -1789.993567 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.537847 meters # Minimum depth: 1762.726628 meters looking forward 100.000000 meters along route # Maximum depth: 1785.839089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1712.726628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695627; longitude = -122.093782; duration = 205; initialDepth = 1709.727688; finalDepth = 1712.726628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1124610000002 # Actual altitude: 73.1124610000002 # Commanded vehicle depth: 1712.726628 # Seafloor depth: -1785.839089 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.93; 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 54 # Segment length 104.058622 meters # Minimum depth: 1759.727688 meters looking forward 100.000000 meters along route # Maximum depth: 1775.480748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1709.727688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696348; longitude = -122.093063; duration = 208; initialDepth = 1724.762047; finalDepth = 1709.727688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.1124610000002 # Actual altitude: 73.1124610000002 # Commanded vehicle depth: 1709.727688 # Seafloor depth: -1762.015381 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.93; 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 54 # Segment length 101.016010 meters # Minimum depth: 1774.762047 meters looking forward 100.000000 meters along route # Maximum depth: 1819.709097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1724.762047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697079; longitude = -122.092334; duration = 202; initialDepth = 1769.354070; finalDepth = 1724.762047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.287693 # Actual altitude: 52.287693 # Commanded vehicle depth: 1724.762047 # Seafloor depth: -1774.762047 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; 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 54 # Segment length 102.536784 meters # Minimum depth: 1819.354070 meters looking forward 100.000000 meters along route # Maximum depth: 1832.194086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1769.354070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697790; longitude = -122.091627; duration = 205; initialDepth = 1778.807028; finalDepth = 1769.354070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1769.35407 # Seafloor depth: -1819.354070 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.536430 meters # Minimum depth: 1828.807028 meters looking forward 100.000000 meters along route # Maximum depth: 1832.082582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1778.807028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698511; longitude = -122.090909; duration = 205; initialDepth = 1776.691585; finalDepth = 1778.807028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.807028 # Seafloor depth: -1828.807028 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 54 # Segment length 102.536076 meters # Minimum depth: 1826.691585 meters looking forward 100.000000 meters along route # Maximum depth: 1830.492283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1776.691585 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699232; longitude = -122.090191; duration = 205; initialDepth = 1776.111467; finalDepth = 1776.691585; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0079000000001 # Actual altitude: 53.0079000000001 # Commanded vehicle depth: 1776.691585 # Seafloor depth: -1829.699485 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.90; 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 54 # Segment length 103.212138 meters # Minimum depth: 1826.111467 meters looking forward 100.000000 meters along route # Maximum depth: 1833.683657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1776.111467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699953; longitude = -122.089472; duration = 206; initialDepth = 1773.976981; finalDepth = 1776.111467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0079000000001 # Actual altitude: 53.0079000000001 # Commanded vehicle depth: 1776.111467 # Seafloor depth: -1826.111467 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.90; 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 54 # Segment length 101.858950 meters # Minimum depth: 1823.976981 meters looking forward 100.000000 meters along route # Maximum depth: 1835.141534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1773.976981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700678; longitude = -122.088749; duration = 203; initialDepth = 1773.126912; finalDepth = 1773.976981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6983170000001 # Actual altitude: 59.6983170000001 # Commanded vehicle depth: 1773.976981 # Seafloor depth: -1833.675298 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.535013 meters # Minimum depth: 1823.126912 meters looking forward 100.000000 meters along route # Maximum depth: 1826.953811 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1773.126912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701395; longitude = -122.088036; duration = 205; initialDepth = 1767.639754; finalDepth = 1773.126912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6983170000001 # Actual altitude: 59.6983170000001 # Commanded vehicle depth: 1773.126912 # Seafloor depth: -1826.953811 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.534658 meters # Minimum depth: 1817.639754 meters looking forward 100.000000 meters along route # Maximum depth: 1825.047502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1767.639754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702116; longitude = -122.087318; duration = 205; initialDepth = 1763.215701; finalDepth = 1767.639754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3212289999999 # Actual altitude: 57.3212289999999 # Commanded vehicle depth: 1767.639754 # Seafloor depth: -1824.960983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.534305 meters # Minimum depth: 1813.215701 meters looking forward 100.000000 meters along route # Maximum depth: 1819.359556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1763.215701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702837; longitude = -122.086600; duration = 205; initialDepth = 1761.002187; finalDepth = 1763.215701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3212289999999 # Actual altitude: 57.3212289999999 # Commanded vehicle depth: 1763.215701 # Seafloor depth: -1817.331466 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.533950 meters # Minimum depth: 1811.002187 meters looking forward 100.000000 meters along route # Maximum depth: 1814.307521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1761.002187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703558; longitude = -122.085881; duration = 205; initialDepth = 1754.085934; finalDepth = 1761.002187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.115765 # Actual altitude: 54.115765 # Commanded vehicle depth: 1761.002187 # Seafloor depth: -1812.616831 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.533595 meters # Minimum depth: 1804.085934 meters looking forward 100.000000 meters along route # Maximum depth: 1811.950913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1754.085934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704279; longitude = -122.085163; duration = 205; initialDepth = 1718.375775; finalDepth = 1754.085934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.9026920000001 # Actual altitude: 56.9026920000001 # Commanded vehicle depth: 1754.085934 # Seafloor depth: -1810.988626 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 54 # Segment length 102.533242 meters # Minimum depth: 1768.375775 meters looking forward 100.000000 meters along route # Maximum depth: 1804.560305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1718.375775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705000; longitude = -122.084445; duration = 205; initialDepth = 1689.774449; finalDepth = 1718.375775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.18453 # Actual altitude: 86.18453 # Commanded vehicle depth: 1718.375775 # Seafloor depth: -1804.560305 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.86; 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 54 # Segment length 102.532887 meters # Minimum depth: 1739.774449 meters looking forward 100.000000 meters along route # Maximum depth: 1770.365916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1689.774449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705721; longitude = -122.083727; duration = 205; initialDepth = 1663.940764; finalDepth = 1689.774449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.18453 # Actual altitude: 86.18453 # Commanded vehicle depth: 1689.774449 # Seafloor depth: -1768.820960 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.86; 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 54 # Segment length 108.086256 meters # Minimum depth: 1713.940764 meters looking forward 100.000000 meters along route # Maximum depth: 1742.496740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1663.940764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706442; longitude = -122.083009; duration = 216; initialDepth = 1630.191992; finalDepth = 1663.940764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.046511 # Actual altitude: 79.046511 # Commanded vehicle depth: 1663.940764 # Seafloor depth: -1740.819248 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.71; 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 54 # Segment length 101.315673 meters # Minimum depth: 1680.191992 meters looking forward 100.000000 meters along route # Maximum depth: 1714.460777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1630.191992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707202; longitude = -122.082252; duration = 202; initialDepth = 1613.253739; finalDepth = 1630.191992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.268785 # Actual altitude: 84.268785 # Commanded vehicle depth: 1630.191992 # Seafloor depth: -1714.460777 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.28; 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; } # ####################################################### # # 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 53 # Segment length 123.431904 meters # Minimum depth: 1663.253739 meters looking forward 100.000000 meters along route # Maximum depth: 1682.723477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1613.253739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707914; longitude = -122.081542; duration = 246; # abortOnTimeout = True; initialDepth = 1649.638856; finalDepth = 1613.253739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.268785 # Actual altitude: 84.268785 # Commanded vehicle depth: 1613.253739 # Seafloor depth: -1671.418945 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.28; 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 53 # Segment length 100.070395 meters # Minimum depth: 1699.638856 meters looking forward 100.000000 meters along route # Maximum depth: 1728.447493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1649.638856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707919; longitude = -122.082924; duration = 200; initialDepth = 1663.838509; finalDepth = 1649.638856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.10403 # Actual altitude: 60.10403 # Commanded vehicle depth: 1649.638856 # Seafloor depth: -1709.742886 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.03; 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 53 # Segment length 100.070370 meters # Minimum depth: 1713.838509 meters looking forward 100.000000 meters along route # Maximum depth: 1726.073345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1663.838509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707923; longitude = -122.084044; duration = 200; initialDepth = 1672.008330; finalDepth = 1663.838509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.10403 # Actual altitude: 60.10403 # Commanded vehicle depth: 1663.838509 # Seafloor depth: -1713.838509 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.03; 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 53 # Segment length 100.070344 meters # Minimum depth: 1722.008330 meters looking forward 100.000000 meters along route # Maximum depth: 1747.629132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1672.008330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707927; longitude = -122.085164; duration = 200; initialDepth = 1697.992406; finalDepth = 1672.008330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1672.00833 # Seafloor depth: -1722.008330 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.070319 meters # Minimum depth: 1747.992406 meters looking forward 100.000000 meters along route # Maximum depth: 1765.810470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1697.992406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707930; longitude = -122.086285; duration = 200; initialDepth = 1709.678792; finalDepth = 1697.992406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9444099999998 # Actual altitude: 51.9444099999998 # Commanded vehicle depth: 1697.992406 # Seafloor depth: -1749.936816 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.58; 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 53 # Segment length 100.070294 meters # Minimum depth: 1759.678792 meters looking forward 100.000000 meters along route # Maximum depth: 1772.629739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1709.678792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707934; longitude = -122.087405; duration = 200; initialDepth = 1726.526047; finalDepth = 1709.678792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.9444099999998 # Actual altitude: 51.9444099999998 # Commanded vehicle depth: 1709.678792 # Seafloor depth: -1761.562325 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.58; 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 53 # Segment length 100.070269 meters # Minimum depth: 1776.526047 meters looking forward 100.000000 meters along route # Maximum depth: 1790.401000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1726.526047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707938; longitude = -122.088525; duration = 200; initialDepth = 1741.810167; finalDepth = 1726.526047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.8835330000002 # Actual altitude: 51.8835330000002 # Commanded vehicle depth: 1726.526047 # Seafloor depth: -1776.597991 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.57; 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 53 # Segment length 100.070243 meters # Minimum depth: 1791.810167 meters looking forward 100.000000 meters along route # Maximum depth: 1801.998297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1741.810167 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707942; longitude = -122.089646; duration = 200; initialDepth = 1746.964862; finalDepth = 1741.810167; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7827699999998 # Actual altitude: 51.7827699999998 # Commanded vehicle depth: 1741.810167 # Seafloor depth: -1793.592937 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; 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 53 # Segment length 100.070219 meters # Minimum depth: 1796.964862 meters looking forward 100.000000 meters along route # Maximum depth: 1804.047151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1746.964862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707946; longitude = -122.090766; duration = 200; initialDepth = 1748.459484; finalDepth = 1746.964862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5407009999999 # Actual altitude: 52.5407009999999 # Commanded vehicle depth: 1746.964862 # Seafloor depth: -1799.505563 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; 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 53 # Segment length 100.070193 meters # Minimum depth: 1798.459484 meters looking forward 100.000000 meters along route # Maximum depth: 1804.949599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1748.459484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707950; longitude = -122.091886; duration = 200; initialDepth = 1753.466242; finalDepth = 1748.459484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1468560000001 # Actual altitude: 54.1468560000001 # Commanded vehicle depth: 1748.459484 # Seafloor depth: -1802.606340 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 100.070169 meters # Minimum depth: 1803.466242 meters looking forward 100.000000 meters along route # Maximum depth: 1813.326179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1753.466242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707954; longitude = -122.093007; duration = 200; initialDepth = 1764.886083; finalDepth = 1753.466242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1468560000001 # Actual altitude: 54.1468560000001 # Commanded vehicle depth: 1753.466242 # Seafloor depth: -1805.730924 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 100.070143 meters # Minimum depth: 1814.886083 meters looking forward 100.000000 meters along route # Maximum depth: 1821.076754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1764.886083 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707958; longitude = -122.094127; duration = 200; initialDepth = 1759.480177; finalDepth = 1764.886083; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.264682 # Actual altitude: 52.264682 # Commanded vehicle depth: 1764.886083 # Seafloor depth: -1815.856599 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 100.070119 meters # Minimum depth: 1809.480177 meters looking forward 100.000000 meters along route # Maximum depth: 1818.944027 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1759.480177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707962; longitude = -122.095247; duration = 200; initialDepth = 1763.697985; finalDepth = 1759.480177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4638500000001 # Actual altitude: 59.4638500000001 # Commanded vehicle depth: 1759.480177 # Seafloor depth: -1818.944027 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 100.070093 meters # Minimum depth: 1813.697985 meters looking forward 100.000000 meters along route # Maximum depth: 1819.452298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1763.697985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707965; longitude = -122.096368; duration = 200; initialDepth = 1762.413205; finalDepth = 1763.697985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4638500000001 # Actual altitude: 59.4638500000001 # Commanded vehicle depth: 1763.697985 # Seafloor depth: -1815.049967 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 100.070069 meters # Minimum depth: 1812.413205 meters looking forward 100.000000 meters along route # Maximum depth: 1825.192953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1762.413205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707969; longitude = -122.097488; duration = 200; initialDepth = 1761.453216; finalDepth = 1762.413205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1985379999999 # Actual altitude: 57.1985379999999 # Commanded vehicle depth: 1762.413205 # Seafloor depth: -1819.611743 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.16; 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 53 # Segment length 100.070044 meters # Minimum depth: 1811.453216 meters looking forward 100.000000 meters along route # Maximum depth: 1824.942743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1761.453216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707973; longitude = -122.098608; duration = 200; initialDepth = 1769.393994; finalDepth = 1761.453216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1985379999999 # Actual altitude: 57.1985379999999 # Commanded vehicle depth: 1761.453216 # Seafloor depth: -1813.906749 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.16; 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 53 # Segment length 100.070018 meters # Minimum depth: 1819.393994 meters looking forward 100.000000 meters along route # Maximum depth: 1831.731143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1769.393994 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707977; longitude = -122.099729; duration = 200; initialDepth = 1774.247614; finalDepth = 1769.393994; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.723463 # Actual altitude: 60.723463 # Commanded vehicle depth: 1769.393994 # Seafloor depth: -1830.117457 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 100.069994 meters # Minimum depth: 1824.247614 meters looking forward 100.000000 meters along route # Maximum depth: 1828.634130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1774.247614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707981; longitude = -122.100849; duration = 200; initialDepth = 1775.911153; finalDepth = 1774.247614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.723463 # Actual altitude: 60.723463 # Commanded vehicle depth: 1774.247614 # Seafloor depth: -1828.005940 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 105.382637 meters # Minimum depth: 1825.911153 meters looking forward 100.000000 meters along route # Maximum depth: 1829.200232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1775.911153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707985; longitude = -122.101969; duration = 210; initialDepth = 1779.233307; finalDepth = 1775.911153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.7583259999999 # Actual altitude: 53.7583259999999 # Commanded vehicle depth: 1775.911153 # Seafloor depth: -1826.029694 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.13; 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; } # ####################################################### # # 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 52 # Segment length 149.996852 meters # Minimum depth: 1829.233307 meters looking forward 100.000000 meters along route # Maximum depth: 1838.662884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1779.233307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707989; longitude = -122.103149; duration = 299; # abortOnTimeout = True; initialDepth = 1787.314344; finalDepth = 1779.233307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.1185410000001 # Actual altitude: 50.1185410000001 # Commanded vehicle depth: 1779.233307 # Seafloor depth: -1829.233307 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.04; 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; } # ####################################################### # # 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 51 # Segment length 167.224472 meters # Minimum depth: 1837.314344 meters looking forward 100.000000 meters along route # Maximum depth: 1844.065240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1787.314344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706637; longitude = -122.103169; duration = 334; # abortOnTimeout = True; initialDepth = 1787.984468; finalDepth = 1787.314344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6212030000002 # Actual altitude: 50.6212030000002 # Commanded vehicle depth: 1787.314344 # Seafloor depth: -1837.935547 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.19; 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 51 # Segment length 100.078028 meters # Minimum depth: 1837.984468 meters looking forward 100.000000 meters along route # Maximum depth: 1844.254080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1787.984468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706619; longitude = -122.101297; duration = 200; initialDepth = 1786.555741; finalDepth = 1787.984468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6212030000002 # Actual altitude: 50.6212030000002 # Commanded vehicle depth: 1787.984468 # Seafloor depth: -1837.984468 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.19; 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 51 # Segment length 100.078063 meters # Minimum depth: 1836.555741 meters looking forward 100.000000 meters along route # Maximum depth: 1841.524998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1786.555741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706608; longitude = -122.100177; duration = 200; initialDepth = 1787.512430; finalDepth = 1786.555741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.9692570000002 # Actual altitude: 54.9692570000002 # Commanded vehicle depth: 1786.555741 # Seafloor depth: -1841.524998 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 51 # Segment length 100.078097 meters # Minimum depth: 1837.512430 meters looking forward 100.000000 meters along route # Maximum depth: 1843.126090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1787.512430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706597; longitude = -122.099056; duration = 200; initialDepth = 1785.213163; finalDepth = 1787.512430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.61366 # Actual altitude: 55.61366 # Commanded vehicle depth: 1787.51243 # Seafloor depth: -1843.126090 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 51 # Segment length 100.078130 meters # Minimum depth: 1835.213163 meters looking forward 100.000000 meters along route # Maximum depth: 1838.744677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1785.213163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706587; longitude = -122.097936; duration = 200; initialDepth = 1783.849610; finalDepth = 1785.213163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.61366 # Actual altitude: 55.61366 # Commanded vehicle depth: 1785.213163 # Seafloor depth: -1838.084639 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 51 # Segment length 100.078164 meters # Minimum depth: 1833.849610 meters looking forward 100.000000 meters along route # Maximum depth: 1838.195780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1783.849610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706576; longitude = -122.096816; duration = 200; initialDepth = 1779.355430; finalDepth = 1783.849610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.871476 # Actual altitude: 52.871476 # Commanded vehicle depth: 1783.84961 # Seafloor depth: -1834.110206 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; 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 51 # Segment length 100.078199 meters # Minimum depth: 1829.355430 meters looking forward 100.000000 meters along route # Maximum depth: 1834.405150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1779.355430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706565; longitude = -122.095695; duration = 200; initialDepth = 1775.368396; finalDepth = 1779.355430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2217009999999 # Actual altitude: 52.2217009999999 # Commanded vehicle depth: 1779.35543 # Seafloor depth: -1831.577131 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.67; 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 51 # Segment length 100.078232 meters # Minimum depth: 1825.368396 meters looking forward 100.000000 meters along route # Maximum depth: 1830.192582 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1775.368396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706554; longitude = -122.094575; duration = 200; initialDepth = 1774.883889; finalDepth = 1775.368396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2738879999999 # Actual altitude: 52.2738879999999 # Commanded vehicle depth: 1775.368396 # Seafloor depth: -1827.642284 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 51 # Segment length 100.078266 meters # Minimum depth: 1824.883889 meters looking forward 100.000000 meters along route # Maximum depth: 1829.773265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1774.883889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706543; longitude = -122.093455; duration = 200; initialDepth = 1769.954333; finalDepth = 1774.883889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.576609 # Actual altitude: 53.576609 # Commanded vehicle depth: 1774.883889 # Seafloor depth: -1828.460498 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.07; 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 51 # Segment length 100.078301 meters # Minimum depth: 1819.954333 meters looking forward 100.000000 meters along route # Maximum depth: 1827.214110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1769.954333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706533; longitude = -122.092334; duration = 200; initialDepth = 1767.154517; finalDepth = 1769.954333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.576609 # Actual altitude: 53.576609 # Commanded vehicle depth: 1769.954333 # Seafloor depth: -1819.954333 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.07; 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 51 # Segment length 100.078334 meters # Minimum depth: 1817.154517 meters looking forward 100.000000 meters along route # Maximum depth: 1824.003010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1767.154517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706522; longitude = -122.091214; duration = 200; initialDepth = 1762.056165; finalDepth = 1767.154517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1655150000001 # Actual altitude: 53.1655150000001 # Commanded vehicle depth: 1767.154517 # Seafloor depth: -1820.320032 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 51 # Segment length 100.078368 meters # Minimum depth: 1812.056165 meters looking forward 100.000000 meters along route # Maximum depth: 1819.889382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1762.056165 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706511; longitude = -122.090094; duration = 200; initialDepth = 1752.008653; finalDepth = 1762.056165; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.9609170000001 # Actual altitude: 55.9609170000001 # Commanded vehicle depth: 1762.056165 # Seafloor depth: -1818.017082 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.79; 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 51 # Segment length 100.078403 meters # Minimum depth: 1802.008653 meters looking forward 100.000000 meters along route # Maximum depth: 1811.586351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1752.008653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706500; longitude = -122.088974; duration = 200; initialDepth = 1743.290066; finalDepth = 1752.008653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5776979999998 # Actual altitude: 59.5776979999998 # Commanded vehicle depth: 1752.008653 # Seafloor depth: -1811.586351 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.87; 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 51 # Segment length 100.078436 meters # Minimum depth: 1793.290066 meters looking forward 100.000000 meters along route # Maximum depth: 1803.506003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1743.290066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706489; longitude = -122.087853; duration = 200; initialDepth = 1728.130962; finalDepth = 1743.290066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5776979999998 # Actual altitude: 59.5776979999998 # Commanded vehicle depth: 1743.290066 # Seafloor depth: -1801.465058 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.87; 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 51 # Segment length 100.078471 meters # Minimum depth: 1778.130962 meters looking forward 100.000000 meters along route # Maximum depth: 1793.352727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1728.130962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706478; longitude = -122.086733; duration = 200; initialDepth = 1722.212708; finalDepth = 1728.130962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.221765 # Actual altitude: 65.221765 # Commanded vehicle depth: 1728.130962 # Seafloor depth: -1793.352727 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.57; 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 51 # Segment length 100.078505 meters # Minimum depth: 1772.212708 meters looking forward 100.000000 meters along route # Maximum depth: 1779.819598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1722.212708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706468; longitude = -122.085613; duration = 200; initialDepth = 1687.386819; finalDepth = 1722.212708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.221765 # Actual altitude: 65.221765 # Commanded vehicle depth: 1722.212708 # Seafloor depth: -1779.819598 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.57; 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 51 # Segment length 100.078539 meters # Minimum depth: 1737.386819 meters looking forward 100.000000 meters along route # Maximum depth: 1774.605278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1687.386819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706457; longitude = -122.084492; duration = 200; initialDepth = 1685.743178; finalDepth = 1687.386819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6927459999999 # Actual altitude: 84.6927459999999 # Commanded vehicle depth: 1687.386819 # Seafloor depth: -1772.079565 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.41; 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 51 # Segment length 100.078573 meters # Minimum depth: 1735.743178 meters looking forward 100.000000 meters along route # Maximum depth: 1747.111691 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1685.743178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706446; longitude = -122.083372; duration = 200; initialDepth = 1642.053827; finalDepth = 1685.743178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.6927459999999 # Actual altitude: 84.6927459999999 # Commanded vehicle depth: 1685.743178 # Seafloor depth: -1744.472712 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.41; 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 51 # Segment length 100.078608 meters # Minimum depth: 1692.053827 meters looking forward 100.000000 meters along route # Maximum depth: 1740.466572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1642.053827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706435; longitude = -122.082252; duration = 200; initialDepth = 1639.749757; finalDepth = 1642.053827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.8578990000001 # Actual altitude: 94.8578990000001 # Commanded vehicle depth: 1642.053827 # Seafloor depth: -1736.911726 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.46; 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 51 # Segment length 100.078642 meters # Minimum depth: 1689.749757 meters looking forward 100.000000 meters along route # Maximum depth: 1707.763142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1639.749757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706424; longitude = -122.081131; duration = 200; initialDepth = 1614.350424; finalDepth = 1639.749757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.8578990000001 # Actual altitude: 94.8578990000001 # Commanded vehicle depth: 1639.749757 # Seafloor depth: -1702.847784 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.46; 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 51 # Segment length 100.078676 meters # Minimum depth: 1664.350424 meters looking forward 100.000000 meters along route # Maximum depth: 1707.963827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1614.350424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706414; longitude = -122.080011; duration = 200; initialDepth = 1589.342688; finalDepth = 1614.350424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.1650569999999 # Actual altitude: 91.1650569999999 # Commanded vehicle depth: 1614.350424 # Seafloor depth: -1705.515481 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.35; 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 51 # Segment length 100.078710 meters # Minimum depth: 1639.342688 meters looking forward 100.000000 meters along route # Maximum depth: 1667.602806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1589.342688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706403; longitude = -122.078891; duration = 200; initialDepth = 1583.094999; finalDepth = 1589.342688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.1650569999999 # Actual altitude: 91.1650569999999 # Commanded vehicle depth: 1589.342688 # Seafloor depth: -1657.982825 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.35; 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 51 # Segment length 100.078745 meters # Minimum depth: 1633.094999 meters looking forward 100.000000 meters along route # Maximum depth: 1661.128949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1583.094999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706392; longitude = -122.077770; duration = 200; initialDepth = 1591.128962; finalDepth = 1583.094999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.6401370000001 # Actual altitude: 68.6401370000001 # Commanded vehicle depth: 1583.094999 # Seafloor depth: -1636.868847 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.59; 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 51 # Segment length 100.078779 meters # Minimum depth: 1641.128962 meters looking forward 100.000000 meters along route # Maximum depth: 1665.305318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1591.128962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706381; longitude = -122.076650; duration = 200; initialDepth = 1624.633460; finalDepth = 1591.128962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.773848 # Actual altitude: 53.773848 # Commanded vehicle depth: 1591.128962 # Seafloor depth: -1644.828165 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.13; 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 51 # Segment length 100.078814 meters # Minimum depth: 1674.633460 meters looking forward 100.000000 meters along route # Maximum depth: 1686.119312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1624.633460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706370; longitude = -122.075530; duration = 200; initialDepth = 1619.226211; finalDepth = 1624.633460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6992029999999 # Actual altitude: 53.6992029999999 # Commanded vehicle depth: 1624.63346 # Seafloor depth: -1675.827254 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.11; 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 51 # Segment length 100.078848 meters # Minimum depth: 1669.226211 meters looking forward 100.000000 meters along route # Maximum depth: 1686.275164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1619.226211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706360; longitude = -122.074409; duration = 200; initialDepth = 1570.597305; finalDepth = 1619.226211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.561625 # Actual altitude: 59.561625 # Commanded vehicle depth: 1619.226211 # Seafloor depth: -1678.787836 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.87; 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 51 # Segment length 109.800690 meters # Minimum depth: 1620.597305 meters looking forward 100.000000 meters along route # Maximum depth: 1677.144656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1570.597305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706349; longitude = -122.073289; duration = 219; initialDepth = 1563.262096; finalDepth = 1570.597305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 97.397397 # Actual altitude: 97.397397 # Commanded vehicle depth: 1570.597305 # Seafloor depth: -1667.994702 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.22; 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 50 # Segment length 149.997648 meters # Minimum depth: 1613.262096 meters looking forward 100.000000 meters along route # Maximum depth: 1637.948972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1563.262096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706337; longitude = -122.072060; duration = 299; # abortOnTimeout = True; initialDepth = 1575.622182; finalDepth = 1563.262096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 97.397397 # Actual altitude: 97.397397 # Commanded vehicle depth: 1563.262096 # Seafloor depth: -1619.548157 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.22; 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 49 # Segment length 168.064326 meters # Minimum depth: 1625.622182 meters looking forward 100.000000 meters along route # Maximum depth: 1653.875529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1575.622182 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704985; longitude = -122.072080; duration = 336; # abortOnTimeout = True; initialDepth = 1602.736567; finalDepth = 1575.622182; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2612709999999 # Actual altitude: 66.2612709999999 # Commanded vehicle depth: 1575.622182 # Seafloor depth: -1641.883453 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.080581 meters # Minimum depth: 1652.736567 meters looking forward 100.000000 meters along route # Maximum depth: 1697.431752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1602.736567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705003; longitude = -122.073961; duration = 200; initialDepth = 1651.644836; finalDepth = 1602.736567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2612709999999 # Actual altitude: 66.2612709999999 # Commanded vehicle depth: 1602.736567 # Seafloor depth: -1652.736567 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.080546 meters # Minimum depth: 1701.644836 meters looking forward 100.000000 meters along route # Maximum depth: 1719.136738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1651.644836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705014; longitude = -122.075082; duration = 200; initialDepth = 1662.337873; finalDepth = 1651.644836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.195643 # Actual altitude: 59.195643 # Commanded vehicle depth: 1651.644836 # Seafloor depth: -1710.840479 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.080512 meters # Minimum depth: 1712.337873 meters looking forward 100.000000 meters along route # Maximum depth: 1736.846970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1662.337873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705025; longitude = -122.076202; duration = 200; initialDepth = 1658.804932; finalDepth = 1662.337873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.195643 # Actual altitude: 59.195643 # Commanded vehicle depth: 1662.337873 # Seafloor depth: -1720.486669 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.080478 meters # Minimum depth: 1708.804932 meters looking forward 100.000000 meters along route # Maximum depth: 1733.258370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1658.804932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705036; longitude = -122.077322; duration = 200; initialDepth = 1662.608632; finalDepth = 1658.804932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.979791 # Actual altitude: 70.979791 # Commanded vehicle depth: 1658.804932 # Seafloor depth: -1729.784723 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.080443 meters # Minimum depth: 1712.608632 meters looking forward 100.000000 meters along route # Maximum depth: 1749.145052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1662.608632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705046; longitude = -122.078443; duration = 200; initialDepth = 1688.986794; finalDepth = 1662.608632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.979791 # Actual altitude: 70.979791 # Commanded vehicle depth: 1662.608632 # Seafloor depth: -1712.608632 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.080409 meters # Minimum depth: 1738.986794 meters looking forward 100.000000 meters along route # Maximum depth: 1758.913636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1688.986794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705057; longitude = -122.079563; duration = 200; initialDepth = 1702.859536; finalDepth = 1688.986794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1688.986794 # Seafloor depth: -1738.986794 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.080374 meters # Minimum depth: 1752.859536 meters looking forward 100.000000 meters along route # Maximum depth: 1779.378463 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1702.859536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705068; longitude = -122.080683; duration = 200; initialDepth = 1721.457204; finalDepth = 1702.859536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1702.859536 # Seafloor depth: -1752.859536 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.080341 meters # Minimum depth: 1771.457204 meters looking forward 100.000000 meters along route # Maximum depth: 1793.117807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1721.457204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705079; longitude = -122.081804; duration = 200; initialDepth = 1727.987255; finalDepth = 1721.457204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1721.457204 # Seafloor depth: -1771.457204 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.080306 meters # Minimum depth: 1777.987255 meters looking forward 100.000000 meters along route # Maximum depth: 1797.694208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1727.987255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705090; longitude = -122.082924; duration = 200; initialDepth = 1743.762497; finalDepth = 1727.987255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1727.987255 # Seafloor depth: -1777.987255 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.080272 meters # Minimum depth: 1793.762497 meters looking forward 100.000000 meters along route # Maximum depth: 1806.930172 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1743.762497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705100; longitude = -122.084044; duration = 200; initialDepth = 1754.953052; finalDepth = 1743.762497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1743.762497 # Seafloor depth: -1793.762497 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.080237 meters # Minimum depth: 1804.953052 meters looking forward 100.000000 meters along route # Maximum depth: 1814.784112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1754.953052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705111; longitude = -122.085164; duration = 200; initialDepth = 1758.231192; finalDepth = 1754.953052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1754.953052 # Seafloor depth: -1804.953052 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.080204 meters # Minimum depth: 1808.231192 meters looking forward 100.000000 meters along route # Maximum depth: 1814.214057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1758.231192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705122; longitude = -122.086285; duration = 200; initialDepth = 1763.282045; finalDepth = 1758.231192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2366400000001 # Actual altitude: 55.2366400000001 # Commanded vehicle depth: 1758.231192 # Seafloor depth: -1813.467832 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.57; 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 49 # Segment length 100.080169 meters # Minimum depth: 1813.282045 meters looking forward 100.000000 meters along route # Maximum depth: 1817.722065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1763.282045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705133; longitude = -122.087405; duration = 200; initialDepth = 1768.350539; finalDepth = 1763.282045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2366400000001 # Actual altitude: 55.2366400000001 # Commanded vehicle depth: 1763.282045 # Seafloor depth: -1813.846465 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.57; 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 49 # Segment length 100.080136 meters # Minimum depth: 1818.350539 meters looking forward 100.000000 meters along route # Maximum depth: 1821.494962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1768.350539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705144; longitude = -122.088525; duration = 200; initialDepth = 1769.198062; finalDepth = 1768.350539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5644200000002 # Actual altitude: 50.5644200000002 # Commanded vehicle depth: 1768.350539 # Seafloor depth: -1818.626034 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.17; 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 49 # Segment length 100.080101 meters # Minimum depth: 1819.198062 meters looking forward 100.000000 meters along route # Maximum depth: 1822.912342 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1769.198062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705154; longitude = -122.089646; duration = 200; initialDepth = 1773.937956; finalDepth = 1769.198062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2754949999999 # Actual altitude: 50.2754949999999 # Commanded vehicle depth: 1769.198062 # Seafloor depth: -1819.198062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.08; 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 49 # Segment length 100.080067 meters # Minimum depth: 1823.937956 meters looking forward 100.000000 meters along route # Maximum depth: 1830.086578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1773.937956 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705165; longitude = -122.090766; duration = 200; initialDepth = 1778.293802; finalDepth = 1773.937956; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8323620000001 # Actual altitude: 50.8323620000001 # Commanded vehicle depth: 1773.937956 # Seafloor depth: -1824.770318 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.25; 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 49 # Segment length 100.080033 meters # Minimum depth: 1828.293802 meters looking forward 100.000000 meters along route # Maximum depth: 1831.415413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1778.293802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705176; longitude = -122.091886; duration = 200; initialDepth = 1780.573295; finalDepth = 1778.293802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.369807 # Actual altitude: 52.369807 # Commanded vehicle depth: 1778.293802 # Seafloor depth: -1830.663609 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.080000 meters # Minimum depth: 1830.573295 meters looking forward 100.000000 meters along route # Maximum depth: 1833.988622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1780.573295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705187; longitude = -122.093007; duration = 200; initialDepth = 1785.715323; finalDepth = 1780.573295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.369807 # Actual altitude: 52.369807 # Commanded vehicle depth: 1780.573295 # Seafloor depth: -1830.573295 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.079965 meters # Minimum depth: 1835.715323 meters looking forward 100.000000 meters along route # Maximum depth: 1838.311046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1785.715323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705198; longitude = -122.094127; duration = 200; initialDepth = 1787.944874; finalDepth = 1785.715323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1785.715323 # Seafloor depth: -1835.715323 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 49 # Segment length 100.079931 meters # Minimum depth: 1837.944874 meters looking forward 100.000000 meters along route # Maximum depth: 1840.852743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1787.944874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705208; longitude = -122.095247; duration = 200; initialDepth = 1789.836964; finalDepth = 1787.944874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.266619 # Actual altitude: 50.266619 # Commanded vehicle depth: 1787.944874 # Seafloor depth: -1838.211493 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.08; 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 49 # Segment length 100.079897 meters # Minimum depth: 1839.836964 meters looking forward 100.000000 meters along route # Maximum depth: 1843.034637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1789.836964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705219; longitude = -122.096368; duration = 200; initialDepth = 1792.852707; finalDepth = 1789.836964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6675969999999 # Actual altitude: 50.6675969999999 # Commanded vehicle depth: 1789.836964 # Seafloor depth: -1840.504561 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; 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 49 # Segment length 100.079864 meters # Minimum depth: 1842.852707 meters looking forward 100.000000 meters along route # Maximum depth: 1848.353571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1792.852707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705230; longitude = -122.097488; duration = 200; initialDepth = 1794.244682; finalDepth = 1792.852707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6675969999999 # Actual altitude: 50.6675969999999 # Commanded vehicle depth: 1792.852707 # Seafloor depth: -1843.445136 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; 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 49 # Segment length 100.079829 meters # Minimum depth: 1844.244682 meters looking forward 100.000000 meters along route # Maximum depth: 1851.108088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1794.244682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705241; longitude = -122.098608; duration = 200; initialDepth = 1796.721824; finalDepth = 1794.244682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6248639999999 # Actual altitude: 53.6248639999999 # Commanded vehicle depth: 1794.244682 # Seafloor depth: -1847.869546 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.079796 meters # Minimum depth: 1846.721824 meters looking forward 100.000000 meters along route # Maximum depth: 1850.035741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1796.721824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705252; longitude = -122.099729; duration = 200; initialDepth = 1795.856020; finalDepth = 1796.721824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6248639999999 # Actual altitude: 53.6248639999999 # Commanded vehicle depth: 1796.721824 # Seafloor depth: -1846.721824 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 49 # Segment length 100.079762 meters # Minimum depth: 1845.856020 meters looking forward 100.000000 meters along route # Maximum depth: 1871.946004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1795.856020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705262; longitude = -122.100849; duration = 200; initialDepth = 1795.936347; finalDepth = 1795.856020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.457159 # Actual altitude: 54.457159 # Commanded vehicle depth: 1795.85602 # Seafloor depth: -1850.313179 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.34; 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 49 # Segment length 108.966183 meters # Minimum depth: 1845.936347 meters looking forward 100.000000 meters along route # Maximum depth: 1854.898858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1795.936347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705273; longitude = -122.101969; duration = 217; initialDepth = 1798.663029; finalDepth = 1795.936347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.457159 # Actual altitude: 54.457159 # Commanded vehicle depth: 1795.936347 # Seafloor depth: -1846.451158 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.34; 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; } # ####################################################### # # 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 48 # Segment length 149.996785 meters # Minimum depth: 1848.663029 meters looking forward 100.000000 meters along route # Maximum depth: 1858.259836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1798.663029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705285; longitude = -122.103189; duration = 299; # abortOnTimeout = True; initialDepth = 1800.846385; finalDepth = 1798.663029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.3188439999999 # Actual altitude: 52.3188439999999 # Commanded vehicle depth: 1798.663029 # Seafloor depth: -1850.981873 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.70; 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; } # ####################################################### # # 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 47 # Segment length 130.770824 meters # Minimum depth: 1850.846385 meters looking forward 100.000000 meters along route # Maximum depth: 1860.077932 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1800.846385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703933; longitude = -122.103209; duration = 261; # abortOnTimeout = True; initialDepth = 1803.660296; finalDepth = 1800.846385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3388259999999 # Actual altitude: 55.3388259999999 # Commanded vehicle depth: 1800.846385 # Seafloor depth: -1856.185211 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081342 meters # Minimum depth: 1853.660296 meters looking forward 100.000000 meters along route # Maximum depth: 1865.093845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1803.660296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703919; longitude = -122.101745; duration = 200; initialDepth = 1801.281217; finalDepth = 1803.660296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.3388259999999 # Actual altitude: 55.3388259999999 # Commanded vehicle depth: 1803.660296 # Seafloor depth: -1855.406808 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081376 meters # Minimum depth: 1851.281217 meters looking forward 100.000000 meters along route # Maximum depth: 1856.748239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1801.281217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703908; longitude = -122.100625; duration = 200; initialDepth = 1801.399332; finalDepth = 1801.281217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7465119999999 # Actual altitude: 51.7465119999999 # Commanded vehicle depth: 1801.281217 # Seafloor depth: -1851.914915 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.52; 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 47 # Segment length 100.081410 meters # Minimum depth: 1851.399332 meters looking forward 100.000000 meters along route # Maximum depth: 1857.802049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1801.399332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703898; longitude = -122.099505; duration = 200; initialDepth = 1797.225277; finalDepth = 1801.399332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.063367 # Actual altitude: 52.063367 # Commanded vehicle depth: 1801.399332 # Seafloor depth: -1853.462699 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; 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 47 # Segment length 100.081443 meters # Minimum depth: 1847.225277 meters looking forward 100.000000 meters along route # Maximum depth: 1855.113574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1797.225277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703887; longitude = -122.098384; duration = 200; initialDepth = 1796.918482; finalDepth = 1797.225277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.888297 # Actual altitude: 57.888297 # Commanded vehicle depth: 1797.225277 # Seafloor depth: -1855.113574 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081477 meters # Minimum depth: 1846.918482 meters looking forward 100.000000 meters along route # Maximum depth: 1849.032412 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1796.918482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703876; longitude = -122.097264; duration = 200; initialDepth = 1792.203701; finalDepth = 1796.918482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.888297 # Actual altitude: 57.888297 # Commanded vehicle depth: 1796.918482 # Seafloor depth: -1848.691271 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081511 meters # Minimum depth: 1842.203701 meters looking forward 100.000000 meters along route # Maximum depth: 1846.370159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1792.203701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703866; longitude = -122.096144; duration = 200; initialDepth = 1784.733888; finalDepth = 1792.203701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6939930000001 # Actual altitude: 52.6939930000001 # Commanded vehicle depth: 1792.203701 # Seafloor depth: -1844.897694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.81; 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 47 # Segment length 100.081544 meters # Minimum depth: 1834.733888 meters looking forward 100.000000 meters along route # Maximum depth: 1840.794082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1784.733888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703855; longitude = -122.095023; duration = 200; initialDepth = 1782.550225; finalDepth = 1784.733888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.305998 # Actual altitude: 54.305998 # Commanded vehicle depth: 1784.733888 # Seafloor depth: -1839.039886 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081578 meters # Minimum depth: 1832.550225 meters looking forward 100.000000 meters along route # Maximum depth: 1839.376063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1782.550225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703844; longitude = -122.093903; duration = 200; initialDepth = 1779.629202; finalDepth = 1782.550225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.574102 # Actual altitude: 54.574102 # Commanded vehicle depth: 1782.550225 # Seafloor depth: -1837.124327 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.37; 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 47 # Segment length 100.081613 meters # Minimum depth: 1829.629202 meters looking forward 100.000000 meters along route # Maximum depth: 1834.820103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1779.629202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703834; longitude = -122.092783; duration = 200; initialDepth = 1777.257386; finalDepth = 1779.629202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.574102 # Actual altitude: 54.574102 # Commanded vehicle depth: 1779.629202 # Seafloor depth: -1832.913673 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.37; 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 47 # Segment length 100.081646 meters # Minimum depth: 1827.257386 meters looking forward 100.000000 meters along route # Maximum depth: 1833.207222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1777.257386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703823; longitude = -122.091662; duration = 200; initialDepth = 1773.982060; finalDepth = 1777.257386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.949836 # Actual altitude: 55.949836 # Commanded vehicle depth: 1777.257386 # Seafloor depth: -1833.207222 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081679 meters # Minimum depth: 1823.982060 meters looking forward 100.000000 meters along route # Maximum depth: 1829.004237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1773.982060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703812; longitude = -122.090542; duration = 200; initialDepth = 1770.739665; finalDepth = 1773.982060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.949836 # Actual altitude: 55.949836 # Commanded vehicle depth: 1773.98206 # Seafloor depth: -1829.004237 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081714 meters # Minimum depth: 1820.739665 meters looking forward 100.000000 meters along route # Maximum depth: 1823.836160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1770.739665 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703802; longitude = -122.089422; duration = 200; initialDepth = 1767.665394; finalDepth = 1770.739665; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0221770000001 # Actual altitude: 55.0221770000001 # Commanded vehicle depth: 1770.739665 # Seafloor depth: -1822.075160 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081748 meters # Minimum depth: 1817.665394 meters looking forward 100.000000 meters along route # Maximum depth: 1820.831073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1767.665394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703791; longitude = -122.088301; duration = 200; initialDepth = 1763.920591; finalDepth = 1767.665394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0006699999999 # Actual altitude: 53.0006699999999 # Commanded vehicle depth: 1767.665394 # Seafloor depth: -1820.666064 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.90; 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 47 # Segment length 100.081782 meters # Minimum depth: 1813.920591 meters looking forward 100.000000 meters along route # Maximum depth: 1818.092002 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1763.920591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703780; longitude = -122.087181; duration = 200; initialDepth = 1760.042002; finalDepth = 1763.920591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.171411 # Actual altitude: 54.171411 # Commanded vehicle depth: 1763.920591 # Seafloor depth: -1818.092002 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081815 meters # Minimum depth: 1810.042002 meters looking forward 100.000000 meters along route # Maximum depth: 1814.400229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1760.042002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703770; longitude = -122.086061; duration = 200; initialDepth = 1750.492267; finalDepth = 1760.042002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.171411 # Actual altitude: 54.171411 # Commanded vehicle depth: 1760.042002 # Seafloor depth: -1813.846773 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081850 meters # Minimum depth: 1800.492267 meters looking forward 100.000000 meters along route # Maximum depth: 1810.529012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1750.492267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703759; longitude = -122.084940; duration = 200; initialDepth = 1749.308446; finalDepth = 1750.492267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0367449999999 # Actual altitude: 60.0367449999999 # Commanded vehicle depth: 1750.492267 # Seafloor depth: -1810.529012 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.01; 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 47 # Segment length 100.081884 meters # Minimum depth: 1799.308446 meters looking forward 100.000000 meters along route # Maximum depth: 1805.491771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1749.308446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703748; longitude = -122.083820; duration = 200; initialDepth = 1744.372373; finalDepth = 1749.308446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0367449999999 # Actual altitude: 60.0367449999999 # Commanded vehicle depth: 1749.308446 # Seafloor depth: -1803.689985 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.01; 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 47 # Segment length 100.081917 meters # Minimum depth: 1794.372373 meters looking forward 100.000000 meters along route # Maximum depth: 1799.759937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1744.372373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703738; longitude = -122.082700; duration = 200; initialDepth = 1740.508339; finalDepth = 1744.372373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8241790000002 # Actual altitude: 54.8241790000002 # Commanded vehicle depth: 1744.372373 # Seafloor depth: -1799.196552 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 47 # Segment length 100.081952 meters # Minimum depth: 1790.508339 meters looking forward 100.000000 meters along route # Maximum depth: 1798.353506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1740.508339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703727; longitude = -122.081579; duration = 200; initialDepth = 1734.843931; finalDepth = 1740.508339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8908739999999 # Actual altitude: 54.8908739999999 # Commanded vehicle depth: 1740.508339 # Seafloor depth: -1795.399213 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.081986 meters # Minimum depth: 1784.843931 meters looking forward 100.000000 meters along route # Maximum depth: 1790.705299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1734.843931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703716; longitude = -122.080459; duration = 200; initialDepth = 1728.929136; finalDepth = 1734.843931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8908739999999 # Actual altitude: 54.8908739999999 # Commanded vehicle depth: 1734.843931 # Seafloor depth: -1789.620580 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.082020 meters # Minimum depth: 1778.929136 meters looking forward 100.000000 meters along route # Maximum depth: 1787.898062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1728.929136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703706; longitude = -122.079339; duration = 200; initialDepth = 1720.515873; finalDepth = 1728.929136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.968926 # Actual altitude: 58.968926 # Commanded vehicle depth: 1728.929136 # Seafloor depth: -1787.898062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.69; 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 47 # Segment length 100.082055 meters # Minimum depth: 1770.515873 meters looking forward 100.000000 meters along route # Maximum depth: 1780.810170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1720.515873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703695; longitude = -122.078219; duration = 200; initialDepth = 1706.855097; finalDepth = 1720.515873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.968926 # Actual altitude: 58.968926 # Commanded vehicle depth: 1720.515873 # Seafloor depth: -1777.925247 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.69; 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 47 # Segment length 100.082088 meters # Minimum depth: 1756.855097 meters looking forward 100.000000 meters along route # Maximum depth: 1770.596538 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1706.855097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703684; longitude = -122.077098; duration = 200; initialDepth = 1686.583444; finalDepth = 1706.855097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4316740000002 # Actual altitude: 59.4316740000002 # Commanded vehicle depth: 1706.855097 # Seafloor depth: -1766.286771 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.082123 meters # Minimum depth: 1736.583444 meters looking forward 100.000000 meters along route # Maximum depth: 1759.050472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1686.583444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703674; longitude = -122.075978; duration = 200; initialDepth = 1682.641893; finalDepth = 1686.583444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5044209999999 # Actual altitude: 60.5044209999999 # Commanded vehicle depth: 1686.583444 # Seafloor depth: -1747.087865 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.082156 meters # Minimum depth: 1732.641893 meters looking forward 100.000000 meters along route # Maximum depth: 1752.527985 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1682.641893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703663; longitude = -122.074858; duration = 200; initialDepth = 1645.508842; finalDepth = 1682.641893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.5044209999999 # Actual altitude: 60.5044209999999 # Commanded vehicle depth: 1682.641893 # Seafloor depth: -1732.641893 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.082192 meters # Minimum depth: 1695.508842 meters looking forward 100.000000 meters along route # Maximum depth: 1734.325313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1645.508842 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703652; longitude = -122.073737; duration = 200; initialDepth = 1602.828757; finalDepth = 1645.508842; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.8164710000001 # Actual altitude: 88.8164710000001 # Commanded vehicle depth: 1645.508842 # Seafloor depth: -1734.325313 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.64; 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 47 # Segment length 100.082225 meters # Minimum depth: 1652.828757 meters looking forward 100.000000 meters along route # Maximum depth: 1696.348340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1602.828757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703642; longitude = -122.072617; duration = 200; initialDepth = 1551.998874; finalDepth = 1602.828757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.519583 # Actual altitude: 93.519583 # Commanded vehicle depth: 1602.828757 # Seafloor depth: -1696.348340 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 47 # Segment length 100.082260 meters # Minimum depth: 1601.998874 meters looking forward 100.000000 meters along route # Maximum depth: 1646.606666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1551.998874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703631; longitude = -122.071497; duration = 200; initialDepth = 1522.395527; finalDepth = 1551.998874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.607792 # Actual altitude: 94.607792 # Commanded vehicle depth: 1551.998874 # Seafloor depth: -1646.606666 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.38; 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 47 # Segment length 100.082294 meters # Minimum depth: 1572.395527 meters looking forward 100.000000 meters along route # Maximum depth: 1608.345595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1522.395527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703620; longitude = -122.070376; duration = 200; initialDepth = 1515.388566; finalDepth = 1522.395527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.607792 # Actual altitude: 94.607792 # Commanded vehicle depth: 1522.395527 # Seafloor depth: -1608.345595 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.38; 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 47 # Segment length 100.082328 meters # Minimum depth: 1565.388566 meters looking forward 100.000000 meters along route # Maximum depth: 1579.434665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1515.388566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703610; longitude = -122.069256; duration = 200; initialDepth = 1497.938522; finalDepth = 1515.388566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.9500680000001 # Actual altitude: 85.9500680000001 # Commanded vehicle depth: 1515.388566 # Seafloor depth: -1579.434665 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.79; 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 47 # Segment length 103.421673 meters # Minimum depth: 1547.938522 meters looking forward 100.000000 meters along route # Maximum depth: 1571.294998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1497.938522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703599; longitude = -122.068136; duration = 206; initialDepth = 1508.294098; finalDepth = 1497.938522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 64.6911710000002 # Actual altitude: 64.6911710000002 # Commanded vehicle depth: 1497.938522 # Seafloor depth: -1562.629693 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.41; 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; } # ####################################################### # # 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 46 # Segment length 115.439039 meters # Minimum depth: 1558.294098 meters looking forward 100.000000 meters along route # Maximum depth: 1594.246569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1508.294098 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703588; longitude = -122.066978; duration = 230; # abortOnTimeout = True; initialDepth = 1542.691296; finalDepth = 1508.294098; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6911710000002 # Actual altitude: 64.6911710000002 # Commanded vehicle depth: 1508.294098 # Seafloor depth: -1558.294098 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.41; 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 46 # Segment length 104.852971 meters # Minimum depth: 1592.691296 meters looking forward 100.000000 meters along route # Maximum depth: 1641.301968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1542.691296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702927; longitude = -122.065980; duration = 209; initialDepth = 1572.507373; finalDepth = 1542.691296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1542.691296 # Seafloor depth: -1592.691296 # 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 = 25; 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; } # ####################################################### # # 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 45 # Segment length 103.371896 meters # Minimum depth: 1622.507373 meters looking forward 100.000000 meters along route # Maximum depth: 1652.371502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1572.507373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702326; longitude = -122.065074; duration = 206; # abortOnTimeout = True; initialDepth = 1576.890621; finalDepth = 1572.507373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3809630000001 # Actual altitude: 58.3809630000001 # Commanded vehicle depth: 1572.507373 # Seafloor depth: -1630.888336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080456 meters # Minimum depth: 1626.890621 meters looking forward 100.000000 meters along route # Maximum depth: 1642.454159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1576.890621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702334; longitude = -122.066231; duration = 200; initialDepth = 1576.213997; finalDepth = 1576.890621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3809630000001 # Actual altitude: 58.3809630000001 # Commanded vehicle depth: 1576.890621 # Seafloor depth: -1631.415799 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080425 meters # Minimum depth: 1626.213997 meters looking forward 100.000000 meters along route # Maximum depth: 1652.783190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1576.213997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702341; longitude = -122.067351; duration = 200; initialDepth = 1575.071414; finalDepth = 1576.213997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.989286 # Actual altitude: 71.989286 # Commanded vehicle depth: 1576.213997 # Seafloor depth: -1648.203283 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080395 meters # Minimum depth: 1625.071414 meters looking forward 100.000000 meters along route # Maximum depth: 1669.499734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1575.071414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702349; longitude = -122.068472; duration = 200; initialDepth = 1584.381051; finalDepth = 1575.071414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.989286 # Actual altitude: 71.989286 # Commanded vehicle depth: 1575.071414 # Seafloor depth: -1640.273866 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080365 meters # Minimum depth: 1634.381051 meters looking forward 100.000000 meters along route # Maximum depth: 1689.602283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1584.381051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702356; longitude = -122.069592; duration = 200; initialDepth = 1616.895386; finalDepth = 1584.381051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.202452 # Actual altitude: 65.202452 # Commanded vehicle depth: 1584.381051 # Seafloor depth: -1634.607819 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.56; 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 45 # Segment length 100.080335 meters # Minimum depth: 1666.895386 meters looking forward 100.000000 meters along route # Maximum depth: 1738.133630 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1616.895386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702364; longitude = -122.070712; duration = 200; initialDepth = 1650.279877; finalDepth = 1616.895386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4032870000001 # Actual altitude: 77.4032870000001 # Commanded vehicle depth: 1616.895386 # Seafloor depth: -1694.298673 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080304 meters # Minimum depth: 1700.279877 meters looking forward 100.000000 meters along route # Maximum depth: 1755.993034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1650.279877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702371; longitude = -122.071833; duration = 200; initialDepth = 1685.305303; finalDepth = 1650.279877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4032870000001 # Actual altitude: 77.4032870000001 # Commanded vehicle depth: 1650.279877 # Seafloor depth: -1702.208565 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080275 meters # Minimum depth: 1735.305303 meters looking forward 100.000000 meters along route # Maximum depth: 1783.548005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1685.305303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702379; longitude = -122.072953; duration = 200; initialDepth = 1712.912145; finalDepth = 1685.305303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.14779 # Actual altitude: 65.14779 # Commanded vehicle depth: 1685.305303 # Seafloor depth: -1750.453093 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.54; 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 45 # Segment length 100.080244 meters # Minimum depth: 1762.912145 meters looking forward 100.000000 meters along route # Maximum depth: 1780.189954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1712.912145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702386; longitude = -122.074073; duration = 200; initialDepth = 1726.067989; finalDepth = 1712.912145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.14779 # Actual altitude: 65.14779 # Commanded vehicle depth: 1712.912145 # Seafloor depth: -1762.912145 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.54; 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 45 # Segment length 100.080214 meters # Minimum depth: 1776.067989 meters looking forward 100.000000 meters along route # Maximum depth: 1786.679852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1726.067989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702394; longitude = -122.075194; duration = 200; initialDepth = 1732.034169; finalDepth = 1726.067989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1726.067989 # Seafloor depth: -1776.067989 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.080184 meters # Minimum depth: 1782.034169 meters looking forward 100.000000 meters along route # Maximum depth: 1785.060137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1732.034169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702401; longitude = -122.076314; duration = 200; initialDepth = 1733.713870; finalDepth = 1732.034169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7431469999999 # Actual altitude: 52.7431469999999 # Commanded vehicle depth: 1732.034169 # Seafloor depth: -1784.777316 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080154 meters # Minimum depth: 1783.713870 meters looking forward 100.000000 meters along route # Maximum depth: 1788.747350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1733.713870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702409; longitude = -122.077434; duration = 200; initialDepth = 1738.225039; finalDepth = 1733.713870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7431469999999 # Actual altitude: 52.7431469999999 # Commanded vehicle depth: 1733.71387 # Seafloor depth: -1783.713870 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.080124 meters # Minimum depth: 1788.225039 meters looking forward 100.000000 meters along route # Maximum depth: 1794.945970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1738.225039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702416; longitude = -122.078555; duration = 200; initialDepth = 1742.451268; finalDepth = 1738.225039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1738.225039 # Seafloor depth: -1788.225039 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.080094 meters # Minimum depth: 1792.451268 meters looking forward 100.000000 meters along route # Maximum depth: 1801.679639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1742.451268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702424; longitude = -122.079675; duration = 200; initialDepth = 1741.835043; finalDepth = 1742.451268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3017029999999 # Actual altitude: 52.3017029999999 # Commanded vehicle depth: 1742.451268 # Seafloor depth: -1794.752971 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; 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 45 # Segment length 100.080064 meters # Minimum depth: 1791.835043 meters looking forward 100.000000 meters along route # Maximum depth: 1806.509879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1741.835043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702431; longitude = -122.080795; duration = 200; initialDepth = 1751.851509; finalDepth = 1741.835043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3017029999999 # Actual altitude: 52.3017029999999 # Commanded vehicle depth: 1741.835043 # Seafloor depth: -1791.835043 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; 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 45 # Segment length 100.080034 meters # Minimum depth: 1801.851509 meters looking forward 100.000000 meters along route # Maximum depth: 1806.423785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1751.851509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702439; longitude = -122.081916; duration = 200; initialDepth = 1754.439955; finalDepth = 1751.851509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.77595 # Actual altitude: 51.77595 # Commanded vehicle depth: 1751.851509 # Seafloor depth: -1803.627459 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; 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 45 # Segment length 100.080004 meters # Minimum depth: 1804.439955 meters looking forward 100.000000 meters along route # Maximum depth: 1811.688886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1754.439955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702446; longitude = -122.083036; duration = 200; initialDepth = 1756.755696; finalDepth = 1754.439955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.77595 # Actual altitude: 51.77595 # Commanded vehicle depth: 1754.439955 # Seafloor depth: -1804.439955 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; 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 45 # Segment length 100.079974 meters # Minimum depth: 1806.755696 meters looking forward 100.000000 meters along route # Maximum depth: 1812.989948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1756.755696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702454; longitude = -122.084156; duration = 200; initialDepth = 1762.021805; finalDepth = 1756.755696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1756.755696 # Seafloor depth: -1806.755696 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.079944 meters # Minimum depth: 1812.021805 meters looking forward 100.000000 meters along route # Maximum depth: 1828.490350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1762.021805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702461; longitude = -122.085277; duration = 200; initialDepth = 1769.010546; finalDepth = 1762.021805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.210828 # Actual altitude: 52.210828 # Commanded vehicle depth: 1762.021805 # Seafloor depth: -1814.232633 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.079915 meters # Minimum depth: 1819.010546 meters looking forward 100.000000 meters along route # Maximum depth: 1826.915095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1769.010546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702469; longitude = -122.086397; duration = 200; initialDepth = 1773.890212; finalDepth = 1769.010546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.210828 # Actual altitude: 52.210828 # Commanded vehicle depth: 1769.010546 # Seafloor depth: -1821.071867 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.079885 meters # Minimum depth: 1823.890212 meters looking forward 100.000000 meters along route # Maximum depth: 1829.136795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1773.890212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702476; longitude = -122.087517; duration = 200; initialDepth = 1772.884587; finalDepth = 1773.890212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0613210000001 # Actual altitude: 52.0613210000001 # Commanded vehicle depth: 1773.890212 # Seafloor depth: -1824.006557 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; 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 45 # Segment length 100.079854 meters # Minimum depth: 1822.884587 meters looking forward 100.000000 meters along route # Maximum depth: 1833.259612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1772.884587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702483; longitude = -122.088637; duration = 200; initialDepth = 1778.060668; finalDepth = 1772.884587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1163449999999 # Actual altitude: 50.1163449999999 # Commanded vehicle depth: 1772.884587 # Seafloor depth: -1822.884587 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.03; 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 45 # Segment length 100.079825 meters # Minimum depth: 1828.060668 meters looking forward 100.000000 meters along route # Maximum depth: 1832.746082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1778.060668 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702491; longitude = -122.089758; duration = 200; initialDepth = 1778.967910; finalDepth = 1778.060668; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1778.060668 # Seafloor depth: -1828.060668 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.079796 meters # Minimum depth: 1828.967910 meters looking forward 100.000000 meters along route # Maximum depth: 1835.721605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1778.967910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702498; longitude = -122.090878; duration = 200; initialDepth = 1783.657750; finalDepth = 1778.967910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4053429999999 # Actual altitude: 52.4053429999999 # Commanded vehicle depth: 1778.96791 # Seafloor depth: -1831.373253 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.079765 meters # Minimum depth: 1833.657750 meters looking forward 100.000000 meters along route # Maximum depth: 1838.777434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1783.657750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702506; longitude = -122.091998; duration = 200; initialDepth = 1784.562405; finalDepth = 1783.657750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4053429999999 # Actual altitude: 52.4053429999999 # Commanded vehicle depth: 1783.65775 # Seafloor depth: -1834.635347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.079736 meters # Minimum depth: 1834.562405 meters looking forward 100.000000 meters along route # Maximum depth: 1839.862529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1784.562405 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702513; longitude = -122.093119; duration = 200; initialDepth = 1790.697726; finalDepth = 1784.562405; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2879750000002 # Actual altitude: 53.2879750000002 # Commanded vehicle depth: 1784.562405 # Seafloor depth: -1837.850380 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.99; 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 45 # Segment length 100.079706 meters # Minimum depth: 1840.697726 meters looking forward 100.000000 meters along route # Maximum depth: 1845.691450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1790.697726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702521; longitude = -122.094239; duration = 200; initialDepth = 1787.742892; finalDepth = 1790.697726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.2879750000002 # Actual altitude: 53.2879750000002 # Commanded vehicle depth: 1790.697726 # Seafloor depth: -1841.783509 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.99; 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 45 # Segment length 100.079677 meters # Minimum depth: 1837.742892 meters looking forward 100.000000 meters along route # Maximum depth: 1848.426454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1787.742892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702528; longitude = -122.095359; duration = 200; initialDepth = 1797.299599; finalDepth = 1787.742892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.085783 # Actual altitude: 51.085783 # Commanded vehicle depth: 1787.742892 # Seafloor depth: -1837.742892 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.079647 meters # Minimum depth: 1847.299599 meters looking forward 100.000000 meters along route # Maximum depth: 1850.795184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1797.299599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702536; longitude = -122.096480; duration = 200; initialDepth = 1799.255681; finalDepth = 1797.299599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1797.299599 # Seafloor depth: -1847.299599 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.079617 meters # Minimum depth: 1849.255681 meters looking forward 100.000000 meters along route # Maximum depth: 1862.850816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1799.255681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702543; longitude = -122.097600; duration = 200; initialDepth = 1802.058987; finalDepth = 1799.255681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.187856 # Actual altitude: 54.187856 # Commanded vehicle depth: 1799.255681 # Seafloor depth: -1853.443537 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.26; 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 45 # Segment length 100.079588 meters # Minimum depth: 1852.058987 meters looking forward 100.000000 meters along route # Maximum depth: 1861.500321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1802.058987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702551; longitude = -122.098720; duration = 200; initialDepth = 1806.135414; finalDepth = 1802.058987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.187856 # Actual altitude: 54.187856 # Commanded vehicle depth: 1802.058987 # Seafloor depth: -1852.542622 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.26; 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 45 # Segment length 100.079558 meters # Minimum depth: 1856.135414 meters looking forward 100.000000 meters along route # Maximum depth: 1866.036422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1806.135414 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702558; longitude = -122.099841; duration = 200; initialDepth = 1807.143968; finalDepth = 1806.135414; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5647629999999 # Actual altitude: 51.5647629999999 # Commanded vehicle depth: 1806.135414 # Seafloor depth: -1857.700177 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 45 # Segment length 100.079529 meters # Minimum depth: 1857.143968 meters looking forward 100.000000 meters along route # Maximum depth: 1863.313177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1807.143968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702566; longitude = -122.100961; duration = 200; initialDepth = 1805.561935; finalDepth = 1807.143968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6094479999999 # Actual altitude: 54.6094479999999 # Commanded vehicle depth: 1807.143968 # Seafloor depth: -1861.753416 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.38; 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 45 # Segment length 102.531248 meters # Minimum depth: 1855.561935 meters looking forward 100.000000 meters along route # Maximum depth: 1867.165907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1805.561935 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702573; longitude = -122.102081; duration = 205; initialDepth = 1809.188568; finalDepth = 1805.561935; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.5535970000001 # Actual altitude: 55.5535970000001 # Commanded vehicle depth: 1805.561935 # Seafloor depth: -1861.115532 # 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 = 25; 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; } # ####################################################### # # 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 44 # Segment length 149.996717 meters # Minimum depth: 1859.188568 meters looking forward 100.000000 meters along route # Maximum depth: 1867.053584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1809.188568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702581; longitude = -122.103229; duration = 299; # abortOnTimeout = True; initialDepth = 1810.028062; finalDepth = 1809.188568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.5535970000001 # Actual altitude: 55.5535970000001 # Commanded vehicle depth: 1809.188568 # Seafloor depth: -1859.188568 # 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 = 25; 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; } # ####################################################### # # 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 43 # Segment length 104.324645 meters # Minimum depth: 1860.028062 meters looking forward 100.000000 meters along route # Maximum depth: 1864.434021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1810.028062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701229; longitude = -122.103249; duration = 208; # abortOnTimeout = True; initialDepth = 1808.461118; finalDepth = 1810.028062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5431659999999 # Actual altitude: 53.5431659999999 # Commanded vehicle depth: 1810.028062 # Seafloor depth: -1863.571228 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086024 meters # Minimum depth: 1858.461118 meters looking forward 100.000000 meters along route # Maximum depth: 1865.400717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1808.461118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701217; longitude = -122.102081; duration = 200; initialDepth = 1808.645399; finalDepth = 1808.461118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5431659999999 # Actual altitude: 53.5431659999999 # Commanded vehicle depth: 1808.461118 # Seafloor depth: -1861.955726 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086060 meters # Minimum depth: 1858.645399 meters looking forward 100.000000 meters along route # Maximum depth: 1864.256006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1808.645399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701205; longitude = -122.100961; duration = 200; initialDepth = 1806.802725; finalDepth = 1808.645399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.494608 # Actual altitude: 53.494608 # Commanded vehicle depth: 1808.645399 # Seafloor depth: -1860.861660 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.05; 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 43 # Segment length 100.086094 meters # Minimum depth: 1856.802725 meters looking forward 100.000000 meters along route # Maximum depth: 1861.048484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1806.802725 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701194; longitude = -122.099841; duration = 200; initialDepth = 1803.379733; finalDepth = 1806.802725; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0821470000001 # Actual altitude: 53.0821470000001 # Commanded vehicle depth: 1806.802725 # Seafloor depth: -1859.884872 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; 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 43 # Segment length 100.086129 meters # Minimum depth: 1853.379733 meters looking forward 100.000000 meters along route # Maximum depth: 1858.693997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1803.379733 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701182; longitude = -122.098720; duration = 200; initialDepth = 1798.792026; finalDepth = 1803.379733; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.5854300000001 # Actual altitude: 53.5854300000001 # Commanded vehicle depth: 1803.379733 # Seafloor depth: -1856.965163 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.08; 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 43 # Segment length 100.086164 meters # Minimum depth: 1848.792026 meters looking forward 100.000000 meters along route # Maximum depth: 1855.908554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1798.792026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701171; longitude = -122.097600; duration = 200; initialDepth = 1790.684084; finalDepth = 1798.792026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.868013 # Actual altitude: 53.868013 # Commanded vehicle depth: 1798.792026 # Seafloor depth: -1852.660039 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086198 meters # Minimum depth: 1840.684084 meters looking forward 100.000000 meters along route # Maximum depth: 1852.377101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1790.684084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701159; longitude = -122.096480; duration = 200; initialDepth = 1794.668352; finalDepth = 1790.684084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.868013 # Actual altitude: 53.868013 # Commanded vehicle depth: 1790.684084 # Seafloor depth: -1842.987601 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086234 meters # Minimum depth: 1844.668352 meters looking forward 100.000000 meters along route # Maximum depth: 1849.017091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1794.668352 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701148; longitude = -122.095359; duration = 200; initialDepth = 1787.126144; finalDepth = 1794.668352; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.401934 # Actual altitude: 53.401934 # Commanded vehicle depth: 1794.668352 # Seafloor depth: -1848.070286 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086269 meters # Minimum depth: 1837.126144 meters looking forward 100.000000 meters along route # Maximum depth: 1847.787348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1787.126144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701136; longitude = -122.094239; duration = 200; initialDepth = 1785.605334; finalDepth = 1787.126144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.401934 # Actual altitude: 53.401934 # Commanded vehicle depth: 1787.126144 # Seafloor depth: -1840.455952 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086303 meters # Minimum depth: 1835.605334 meters looking forward 100.000000 meters along route # Maximum depth: 1839.713516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1785.605334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701125; longitude = -122.093119; duration = 200; initialDepth = 1782.234606; finalDepth = 1785.605334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1081819999999 # Actual altitude: 54.1081819999999 # Commanded vehicle depth: 1785.605334 # Seafloor depth: -1839.713516 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086339 meters # Minimum depth: 1832.234606 meters looking forward 100.000000 meters along route # Maximum depth: 1837.456863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1782.234606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701113; longitude = -122.091998; duration = 200; initialDepth = 1776.141222; finalDepth = 1782.234606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.2222570000001 # Actual altitude: 55.2222570000001 # Commanded vehicle depth: 1782.234606 # Seafloor depth: -1837.456863 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.57; 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 43 # Segment length 100.086373 meters # Minimum depth: 1826.141222 meters looking forward 100.000000 meters along route # Maximum depth: 1833.889810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1776.141222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701102; longitude = -122.090878; duration = 200; initialDepth = 1777.599039; finalDepth = 1776.141222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.426318 # Actual altitude: 56.426318 # Commanded vehicle depth: 1776.141222 # Seafloor depth: -1832.567540 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086408 meters # Minimum depth: 1827.599039 meters looking forward 100.000000 meters along route # Maximum depth: 1830.992979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1777.599039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701090; longitude = -122.089758; duration = 200; initialDepth = 1772.253794; finalDepth = 1777.599039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.426318 # Actual altitude: 56.426318 # Commanded vehicle depth: 1777.599039 # Seafloor depth: -1828.911505 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086444 meters # Minimum depth: 1822.253794 meters looking forward 100.000000 meters along route # Maximum depth: 1829.327759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1772.253794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701079; longitude = -122.088637; duration = 200; initialDepth = 1767.391463; finalDepth = 1772.253794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.256382 # Actual altitude: 53.256382 # Commanded vehicle depth: 1772.253794 # Seafloor depth: -1825.510176 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086479 meters # Minimum depth: 1817.391463 meters looking forward 100.000000 meters along route # Maximum depth: 1826.837207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1767.391463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701067; longitude = -122.087517; duration = 200; initialDepth = 1763.342707; finalDepth = 1767.391463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0480170000001 # Actual altitude: 54.0480170000001 # Commanded vehicle depth: 1767.391463 # Seafloor depth: -1821.439480 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.21; 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 43 # Segment length 100.086513 meters # Minimum depth: 1813.342707 meters looking forward 100.000000 meters along route # Maximum depth: 1820.106873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1763.342707 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701055; longitude = -122.086397; duration = 200; initialDepth = 1763.368366; finalDepth = 1763.342707; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7641659999999 # Actual altitude: 56.7641659999999 # Commanded vehicle depth: 1763.342707 # Seafloor depth: -1820.106873 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086549 meters # Minimum depth: 1813.368366 meters looking forward 100.000000 meters along route # Maximum depth: 1818.469534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1763.368366 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701044; longitude = -122.085277; duration = 200; initialDepth = 1757.208796; finalDepth = 1763.368366; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.7641659999999 # Actual altitude: 56.7641659999999 # Commanded vehicle depth: 1763.368366 # Seafloor depth: -1814.759848 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086584 meters # Minimum depth: 1807.208796 meters looking forward 100.000000 meters along route # Maximum depth: 1811.271606 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1757.208796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701032; longitude = -122.084156; duration = 200; initialDepth = 1752.141236; finalDepth = 1757.208796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8945720000002 # Actual altitude: 52.8945720000002 # Commanded vehicle depth: 1757.208796 # Seafloor depth: -1810.103368 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086619 meters # Minimum depth: 1802.141236 meters looking forward 100.000000 meters along route # Maximum depth: 1813.691686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1752.141236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701021; longitude = -122.083036; duration = 200; initialDepth = 1748.698292; finalDepth = 1752.141236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.288798 # Actual altitude: 53.288798 # Commanded vehicle depth: 1752.141236 # Seafloor depth: -1805.430034 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.99; 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 43 # Segment length 100.086655 meters # Minimum depth: 1798.698292 meters looking forward 100.000000 meters along route # Maximum depth: 1804.183720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1748.698292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701009; longitude = -122.081916; duration = 200; initialDepth = 1745.618836; finalDepth = 1748.698292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.288798 # Actual altitude: 53.288798 # Commanded vehicle depth: 1748.698292 # Seafloor depth: -1800.218599 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.99; 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 43 # Segment length 100.086689 meters # Minimum depth: 1795.618836 meters looking forward 100.000000 meters along route # Maximum depth: 1800.093821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1745.618836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700998; longitude = -122.080795; duration = 200; initialDepth = 1740.839844; finalDepth = 1745.618836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8861059999999 # Actual altitude: 52.8861059999999 # Commanded vehicle depth: 1745.618836 # Seafloor depth: -1798.504942 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086725 meters # Minimum depth: 1790.839844 meters looking forward 100.000000 meters along route # Maximum depth: 1798.525260 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1740.839844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700986; longitude = -122.079675; duration = 200; initialDepth = 1734.302030; finalDepth = 1740.839844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.247656 # Actual altitude: 54.247656 # Commanded vehicle depth: 1740.839844 # Seafloor depth: -1795.087500 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086761 meters # Minimum depth: 1784.302030 meters looking forward 100.000000 meters along route # Maximum depth: 1790.179340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1734.302030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700975; longitude = -122.078555; duration = 200; initialDepth = 1730.979085; finalDepth = 1734.302030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5043049999999 # Actual altitude: 55.5043049999999 # Commanded vehicle depth: 1734.30203 # Seafloor depth: -1789.806335 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.086795 meters # Minimum depth: 1780.979085 meters looking forward 100.000000 meters along route # Maximum depth: 1786.197331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1730.979085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700963; longitude = -122.077434; duration = 200; initialDepth = 1727.973187; finalDepth = 1730.979085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5043049999999 # Actual altitude: 55.5043049999999 # Commanded vehicle depth: 1730.979085 # Seafloor depth: -1785.068269 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.086831 meters # Minimum depth: 1777.973187 meters looking forward 100.000000 meters along route # Maximum depth: 1782.225696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1727.973187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700952; longitude = -122.076314; duration = 200; initialDepth = 1723.063421; finalDepth = 1727.973187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0891840000002 # Actual altitude: 54.0891840000002 # Commanded vehicle depth: 1727.973187 # Seafloor depth: -1781.899673 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086866 meters # Minimum depth: 1773.063421 meters looking forward 100.000000 meters along route # Maximum depth: 1778.787099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1723.063421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700940; longitude = -122.075194; duration = 200; initialDepth = 1719.370404; finalDepth = 1723.063421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7236779999998 # Actual altitude: 55.7236779999998 # Commanded vehicle depth: 1723.063421 # Seafloor depth: -1778.787099 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086901 meters # Minimum depth: 1769.370404 meters looking forward 100.000000 meters along route # Maximum depth: 1774.647738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1719.370404 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700929; longitude = -122.074073; duration = 200; initialDepth = 1716.696072; finalDepth = 1719.370404; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7236779999998 # Actual altitude: 55.7236779999998 # Commanded vehicle depth: 1719.370404 # Seafloor depth: -1774.086478 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086937 meters # Minimum depth: 1766.696072 meters looking forward 100.000000 meters along route # Maximum depth: 1769.605486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1716.696072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700917; longitude = -122.072953; duration = 200; initialDepth = 1712.499878; finalDepth = 1716.696072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7160739999999 # Actual altitude: 54.7160739999999 # Commanded vehicle depth: 1716.696072 # Seafloor depth: -1769.605486 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.086973 meters # Minimum depth: 1762.499878 meters looking forward 100.000000 meters along route # Maximum depth: 1766.490979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1712.499878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700906; longitude = -122.071833; duration = 200; initialDepth = 1704.517997; finalDepth = 1712.499878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9911009999998 # Actual altitude: 53.9911009999998 # Commanded vehicle depth: 1712.499878 # Seafloor depth: -1766.490979 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 100.087007 meters # Minimum depth: 1754.517997 meters looking forward 100.000000 meters along route # Maximum depth: 1761.162808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1704.517997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700894; longitude = -122.070712; duration = 200; initialDepth = 1701.245523; finalDepth = 1704.517997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6448110000001 # Actual altitude: 56.6448110000001 # Commanded vehicle depth: 1704.517997 # Seafloor depth: -1761.162808 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.087044 meters # Minimum depth: 1751.245523 meters looking forward 100.000000 meters along route # Maximum depth: 1757.587672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1701.245523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700882; longitude = -122.069592; duration = 200; initialDepth = 1684.418521; finalDepth = 1701.245523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6448110000001 # Actual altitude: 56.6448110000001 # Commanded vehicle depth: 1701.245523 # Seafloor depth: -1754.463405 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.087078 meters # Minimum depth: 1734.418521 meters looking forward 100.000000 meters along route # Maximum depth: 1750.851791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1684.418521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700871; longitude = -122.068472; duration = 200; initialDepth = 1687.557051; finalDepth = 1684.418521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.884554 # Actual altitude: 62.884554 # Commanded vehicle depth: 1684.418521 # Seafloor depth: -1747.303075 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.87; 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 43 # Segment length 100.087114 meters # Minimum depth: 1737.557051 meters looking forward 100.000000 meters along route # Maximum depth: 1744.452185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1687.557051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700859; longitude = -122.067351; duration = 200; initialDepth = 1665.321549; finalDepth = 1687.557051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.884554 # Actual altitude: 62.884554 # Commanded vehicle depth: 1687.557051 # Seafloor depth: -1743.756193 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.87; 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 43 # Segment length 100.087150 meters # Minimum depth: 1715.321549 meters looking forward 100.000000 meters along route # Maximum depth: 1735.667287 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1665.321549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700848; longitude = -122.066231; duration = 200; initialDepth = 1648.163692; finalDepth = 1665.321549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.03862 # Actual altitude: 70.03862 # Commanded vehicle depth: 1665.321549 # Seafloor depth: -1735.360169 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.01; 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 43 # Segment length 106.745536 meters # Minimum depth: 1698.163692 meters looking forward 100.000000 meters along route # Maximum depth: 1717.000886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1648.163692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700836; longitude = -122.065111; duration = 213; initialDepth = 1651.235834; finalDepth = 1648.163692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 70.03862 # Actual altitude: 70.03862 # Commanded vehicle depth: 1648.163692 # Seafloor depth: -1717.000886 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.01; 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 42 # Segment length 119.458790 meters # Minimum depth: 1701.235834 meters looking forward 100.000000 meters along route # Maximum depth: 1727.428883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1651.235834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700824; longitude = -122.063916; duration = 238; # abortOnTimeout = True; initialDepth = 1678.968983; finalDepth = 1651.235834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.837194 # Actual altitude: 68.837194 # Commanded vehicle depth: 1651.235834 # Seafloor depth: -1702.584747 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.65; 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 42 # Segment length 107.474139 meters # Minimum depth: 1728.968983 meters looking forward 100.000000 meters along route # Maximum depth: 1739.612220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1678.968983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700223; longitude = -122.065026; duration = 214; initialDepth = 1687.644983; finalDepth = 1678.968983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.348913 # Actual altitude: 51.348913 # Commanded vehicle depth: 1678.968983 # Seafloor depth: -1728.968983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.40; 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 42 # Segment length 107.474635 meters # Minimum depth: 1737.644983 meters looking forward 100.000000 meters along route # Maximum depth: 1746.939523 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1687.644983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699682; longitude = -122.066024; duration = 214; initialDepth = 1696.908355; finalDepth = 1687.644983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1687.644983 # Seafloor depth: -1737.644983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 107.842454 meters # Minimum depth: 1746.908355 meters looking forward 100.000000 meters along route # Maximum depth: 1749.809806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1696.908355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699141; longitude = -122.067022; duration = 215; initialDepth = 1699.407955; finalDepth = 1696.908355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1696.908355 # Seafloor depth: -1746.908355 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 108.557740 meters # Minimum depth: 1749.407955 meters looking forward 100.000000 meters along route # Maximum depth: 1756.462088 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1699.407955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698599; longitude = -122.068024; duration = 217; initialDepth = 1704.478885; finalDepth = 1699.407955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1699.407955 # Seafloor depth: -1749.407955 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 108.558246 meters # Minimum depth: 1754.478885 meters looking forward 100.000000 meters along route # Maximum depth: 1763.395202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1704.478885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698053; longitude = -122.069032; duration = 217; initialDepth = 1708.576892; finalDepth = 1704.478885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1704.478885 # Seafloor depth: -1754.478885 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 108.558752 meters # Minimum depth: 1758.576892 meters looking forward 100.000000 meters along route # Maximum depth: 1766.922416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1708.576892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697506; longitude = -122.070040; duration = 217; initialDepth = 1706.513342; finalDepth = 1708.576892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6209309999999 # Actual altitude: 54.6209309999999 # Commanded vehicle depth: 1708.576892 # Seafloor depth: -1763.197823 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.39; 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 42 # Segment length 108.559257 meters # Minimum depth: 1756.513342 meters looking forward 100.000000 meters along route # Maximum depth: 1764.231667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1706.513342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696960; longitude = -122.071049; duration = 217; initialDepth = 1699.080547; finalDepth = 1706.513342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6209309999999 # Actual altitude: 54.6209309999999 # Commanded vehicle depth: 1706.513342 # Seafloor depth: -1758.343853 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.39; 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 42 # Segment length 108.559763 meters # Minimum depth: 1749.080547 meters looking forward 100.000000 meters along route # Maximum depth: 1762.115804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1699.080547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696414; longitude = -122.072057; duration = 217; initialDepth = 1678.177684; finalDepth = 1699.080547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6311169999999 # Actual altitude: 61.6311169999999 # Commanded vehicle depth: 1699.080547 # Seafloor depth: -1760.711664 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 42 # Segment length 108.560268 meters # Minimum depth: 1728.177684 meters looking forward 100.000000 meters along route # Maximum depth: 1743.966076 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1678.177684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695868; longitude = -122.073065; duration = 217; initialDepth = 1648.074176; finalDepth = 1678.177684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2102520000001 # Actual altitude: 65.2102520000001 # Commanded vehicle depth: 1678.177684 # Seafloor depth: -1743.387936 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.56; 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 42 # Segment length 100.618444 meters # Minimum depth: 1698.074176 meters looking forward 100.000000 meters along route # Maximum depth: 1733.208267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1648.074176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695322; longitude = -122.074073; duration = 201; initialDepth = 1635.171294; finalDepth = 1648.074176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1340909999999 # Actual altitude: 85.1340909999999 # Commanded vehicle depth: 1648.074176 # Seafloor depth: -1733.208267 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.54; 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 42 # Segment length 107.479096 meters # Minimum depth: 1685.171294 meters looking forward 100.000000 meters along route # Maximum depth: 1711.365227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1635.171294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694816; longitude = -122.075008; duration = 214; initialDepth = 1606.197063; finalDepth = 1635.171294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1340909999999 # Actual altitude: 85.1340909999999 # Commanded vehicle depth: 1635.171294 # Seafloor depth: -1703.361342 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.54; 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 42 # Segment length 101.520305 meters # Minimum depth: 1656.197063 meters looking forward 100.000000 meters along route # Maximum depth: 1683.644489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1606.197063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694275; longitude = -122.076006; duration = 203; initialDepth = 1587.410748; finalDepth = 1606.197063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 77.447426 # Actual altitude: 77.447426 # Commanded vehicle depth: 1606.197063 # Seafloor depth: -1683.644489 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.23; 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; } # ####################################################### # # 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 76.764701 meters # Minimum depth: 1637.410748 meters looking forward 100.000000 meters along route # Maximum depth: 1662.377975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1587.410748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693764; longitude = -122.076949; duration = 153; # abortOnTimeout = True; initialDepth = 1595.147916; finalDepth = 1587.410748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.447426 # Actual altitude: 77.447426 # Commanded vehicle depth: 1587.410748 # Seafloor depth: -1654.506714 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.23; 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 41 # Segment length 100.109223 meters # Minimum depth: 1645.147916 meters looking forward 100.000000 meters along route # Maximum depth: 1676.711812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1595.147916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693750; longitude = -122.076090; duration = 200; initialDepth = 1589.280932; finalDepth = 1595.147916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.0959660000001 # Actual altitude: 67.0959660000001 # Commanded vehicle depth: 1595.147916 # Seafloor depth: -1653.728879 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.13; 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 41 # Segment length 100.109267 meters # Minimum depth: 1639.280932 meters looking forward 100.000000 meters along route # Maximum depth: 1670.247566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1589.280932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693731; longitude = -122.074970; duration = 200; initialDepth = 1589.955941; finalDepth = 1589.280932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9666340000001 # Actual altitude: 80.9666340000001 # Commanded vehicle depth: 1589.280932 # Seafloor depth: -1670.247566 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.29; 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 100.109312 meters # Minimum depth: 1639.955941 meters looking forward 100.000000 meters along route # Maximum depth: 1662.085273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1589.955941 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693713; longitude = -122.073849; duration = 200; initialDepth = 1592.558514; finalDepth = 1589.955941; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.9666340000001 # Actual altitude: 80.9666340000001 # Commanded vehicle depth: 1589.955941 # Seafloor depth: -1655.722640 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.29; 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 100.109356 meters # Minimum depth: 1642.558514 meters looking forward 100.000000 meters along route # Maximum depth: 1656.208477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1592.558514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693694; longitude = -122.072729; duration = 200; initialDepth = 1589.503584; finalDepth = 1592.558514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.766699 # Actual altitude: 65.766699 # Commanded vehicle depth: 1592.558514 # Seafloor depth: -1648.706189 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.73; 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 41 # Segment length 100.109401 meters # Minimum depth: 1639.503584 meters looking forward 100.000000 meters along route # Maximum depth: 1666.706941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1589.503584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693675; longitude = -122.071609; duration = 200; initialDepth = 1600.240856; finalDepth = 1589.503584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1476749999999 # Actual altitude: 56.1476749999999 # Commanded vehicle depth: 1589.503584 # Seafloor depth: -1642.369228 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.109446 meters # Minimum depth: 1650.240856 meters looking forward 100.000000 meters along route # Maximum depth: 1688.845346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1600.240856 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693657; longitude = -122.070488; duration = 200; initialDepth = 1606.795670; finalDepth = 1600.240856; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.865644 # Actual altitude: 52.865644 # Commanded vehicle depth: 1600.240856 # Seafloor depth: -1650.240856 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; 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 41 # Segment length 100.109490 meters # Minimum depth: 1656.795670 meters looking forward 100.000000 meters along route # Maximum depth: 1679.216298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1606.795670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693638; longitude = -122.069368; duration = 200; initialDepth = 1633.915879; finalDepth = 1606.795670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1606.79567 # Seafloor depth: -1656.795670 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.109534 meters # Minimum depth: 1683.915879 meters looking forward 100.000000 meters along route # Maximum depth: 1700.039324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1633.915879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693620; longitude = -122.068248; duration = 200; initialDepth = 1647.521723; finalDepth = 1633.915879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1633.915879 # Seafloor depth: -1683.915879 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.109580 meters # Minimum depth: 1697.521723 meters looking forward 100.000000 meters along route # Maximum depth: 1710.503759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1647.521723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693601; longitude = -122.067127; duration = 200; initialDepth = 1659.860968; finalDepth = 1647.521723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.450206 # Actual altitude: 52.450206 # Commanded vehicle depth: 1647.521723 # Seafloor depth: -1699.971929 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.109624 meters # Minimum depth: 1709.860968 meters looking forward 100.000000 meters along route # Maximum depth: 1716.160679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1659.860968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693583; longitude = -122.066007; duration = 200; initialDepth = 1660.187325; finalDepth = 1659.860968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.450206 # Actual altitude: 52.450206 # Commanded vehicle depth: 1659.860968 # Seafloor depth: -1709.860968 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.109669 meters # Minimum depth: 1710.187325 meters looking forward 100.000000 meters along route # Maximum depth: 1715.116877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1660.187325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693564; longitude = -122.064887; duration = 200; initialDepth = 1654.751505; finalDepth = 1660.187325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.332872 # Actual altitude: 54.332872 # Commanded vehicle depth: 1660.187325 # Seafloor depth: -1714.520197 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.30; 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 100.109713 meters # Minimum depth: 1704.751505 meters looking forward 100.000000 meters along route # Maximum depth: 1709.834687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1654.751505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693545; longitude = -122.063766; duration = 200; initialDepth = 1645.311934; finalDepth = 1654.751505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0831820000001 # Actual altitude: 55.0831820000001 # Commanded vehicle depth: 1654.751505 # Seafloor depth: -1709.834687 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.109759 meters # Minimum depth: 1695.311934 meters looking forward 100.000000 meters along route # Maximum depth: 1702.576008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1645.311934 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693527; longitude = -122.062646; duration = 200; initialDepth = 1630.227898; finalDepth = 1645.311934; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2640739999999 # Actual altitude: 57.2640739999999 # Commanded vehicle depth: 1645.311934 # Seafloor depth: -1702.576008 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.18; 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 41 # Segment length 100.109803 meters # Minimum depth: 1680.227898 meters looking forward 100.000000 meters along route # Maximum depth: 1695.507220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1630.227898 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693508; longitude = -122.061526; duration = 200; initialDepth = 1611.223752; finalDepth = 1630.227898; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.4499819999999 # Actual altitude: 64.4499819999999 # Commanded vehicle depth: 1630.227898 # Seafloor depth: -1694.677880 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.109848 meters # Minimum depth: 1661.223752 meters looking forward 100.000000 meters along route # Maximum depth: 1677.534004 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1611.223752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693490; longitude = -122.060406; duration = 200; initialDepth = 1609.718365; finalDepth = 1611.223752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.310252 # Actual altitude: 66.310252 # Commanded vehicle depth: 1611.223752 # Seafloor depth: -1677.534004 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.109892 meters # Minimum depth: 1659.718365 meters looking forward 100.000000 meters along route # Maximum depth: 1669.283049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1609.718365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693471; longitude = -122.059285; duration = 200; initialDepth = 1617.793971; finalDepth = 1609.718365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.310252 # Actual altitude: 66.310252 # Commanded vehicle depth: 1609.718365 # Seafloor depth: -1664.364668 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.109938 meters # Minimum depth: 1667.793971 meters looking forward 100.000000 meters along route # Maximum depth: 1676.008286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1617.793971 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693452; longitude = -122.058165; duration = 200; initialDepth = 1620.513236; finalDepth = 1617.793971; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.646303 # Actual altitude: 54.646303 # Commanded vehicle depth: 1617.793971 # Seafloor depth: -1667.793971 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.39; 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 41 # Segment length 100.109983 meters # Minimum depth: 1670.513236 meters looking forward 100.000000 meters along route # Maximum depth: 1676.784870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1620.513236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693434; longitude = -122.057045; duration = 200; initialDepth = 1623.380802; finalDepth = 1620.513236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.022037 # Actual altitude: 52.022037 # Commanded vehicle depth: 1620.513236 # Seafloor depth: -1672.535273 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.110027 meters # Minimum depth: 1673.380802 meters looking forward 100.000000 meters along route # Maximum depth: 1680.101443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1623.380802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693415; longitude = -122.055924; duration = 200; initialDepth = 1624.410657; finalDepth = 1623.380802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.022037 # Actual altitude: 52.022037 # Commanded vehicle depth: 1623.380802 # Seafloor depth: -1673.535670 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.110072 meters # Minimum depth: 1674.410657 meters looking forward 100.000000 meters along route # Maximum depth: 1678.207816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1624.410657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693397; longitude = -122.054804; duration = 200; initialDepth = 1621.928193; finalDepth = 1624.410657; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.7971590000002 # Actual altitude: 53.7971590000002 # Commanded vehicle depth: 1624.410657 # Seafloor depth: -1678.207816 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.110118 meters # Minimum depth: 1671.928193 meters looking forward 100.000000 meters along route # Maximum depth: 1677.635856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1621.928193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693378; longitude = -122.053684; duration = 200; initialDepth = 1620.459921; finalDepth = 1621.928193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.20695 # Actual altitude: 54.20695 # Commanded vehicle depth: 1621.928193 # Seafloor depth: -1676.135143 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.26; 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 41 # Segment length 100.110162 meters # Minimum depth: 1670.459921 meters looking forward 100.000000 meters along route # Maximum depth: 1677.659047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1620.459921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693360; longitude = -122.052563; duration = 200; initialDepth = 1616.295964; finalDepth = 1620.459921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.20695 # Actual altitude: 54.20695 # Commanded vehicle depth: 1620.459921 # Seafloor depth: -1670.459921 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.26; 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 41 # Segment length 100.110207 meters # Minimum depth: 1666.295964 meters looking forward 100.000000 meters along route # Maximum depth: 1671.878343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1616.295964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693341; longitude = -122.051443; duration = 200; initialDepth = 1614.136546; finalDepth = 1616.295964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1746540000001 # Actual altitude: 55.1746540000001 # Commanded vehicle depth: 1616.295964 # Seafloor depth: -1671.470618 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.110253 meters # Minimum depth: 1664.136546 meters looking forward 100.000000 meters along route # Maximum depth: 1667.602991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1614.136546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693322; longitude = -122.050323; duration = 200; initialDepth = 1611.297161; finalDepth = 1614.136546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1746540000001 # Actual altitude: 55.1746540000001 # Commanded vehicle depth: 1614.136546 # Seafloor depth: -1667.602991 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 41 # Segment length 100.110297 meters # Minimum depth: 1661.297161 meters looking forward 100.000000 meters along route # Maximum depth: 1667.675481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1611.297161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693304; longitude = -122.049202; duration = 200; initialDepth = 1600.450045; finalDepth = 1611.297161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.37832 # Actual altitude: 56.37832 # Commanded vehicle depth: 1611.297161 # Seafloor depth: -1667.675481 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.110343 meters # Minimum depth: 1650.450045 meters looking forward 100.000000 meters along route # Maximum depth: 1659.729351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1600.450045 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693285; longitude = -122.048082; duration = 200; initialDepth = 1589.938450; finalDepth = 1600.450045; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2793059999999 # Actual altitude: 59.2793059999999 # Commanded vehicle depth: 1600.450045 # Seafloor depth: -1659.729351 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.78; 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 41 # Segment length 100.110387 meters # Minimum depth: 1639.938450 meters looking forward 100.000000 meters along route # Maximum depth: 1651.050534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1589.938450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693267; longitude = -122.046962; duration = 200; initialDepth = 1578.322997; finalDepth = 1589.938450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1120839999999 # Actual altitude: 61.1120839999999 # Commanded vehicle depth: 1589.93845 # Seafloor depth: -1651.050534 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.110433 meters # Minimum depth: 1628.322997 meters looking forward 100.000000 meters along route # Maximum depth: 1639.705945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1578.322997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693248; longitude = -122.045841; duration = 200; initialDepth = 1567.191403; finalDepth = 1578.322997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.1120839999999 # Actual altitude: 61.1120839999999 # Commanded vehicle depth: 1578.322997 # Seafloor depth: -1638.565588 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 41 # Segment length 100.110478 meters # Minimum depth: 1617.191403 meters looking forward 100.000000 meters along route # Maximum depth: 1627.024983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1567.191403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693229; longitude = -122.044721; duration = 200; initialDepth = 1542.013220; finalDepth = 1567.191403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2425909999999 # Actual altitude: 60.2425909999999 # Commanded vehicle depth: 1567.191403 # Seafloor depth: -1627.024983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.07; 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 41 # Segment length 100.110523 meters # Minimum depth: 1592.013220 meters looking forward 100.000000 meters along route # Maximum depth: 1617.518801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1542.013220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693211; longitude = -122.043601; duration = 200; initialDepth = 1535.095502; finalDepth = 1542.013220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5055809999999 # Actual altitude: 75.5055809999999 # Commanded vehicle depth: 1542.01322 # Seafloor depth: -1617.518801 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.65; 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 41 # Segment length 100.110568 meters # Minimum depth: 1585.095502 meters looking forward 100.000000 meters along route # Maximum depth: 1595.903464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1535.095502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693192; longitude = -122.042480; duration = 200; initialDepth = 1526.879057; finalDepth = 1535.095502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5055809999999 # Actual altitude: 75.5055809999999 # Commanded vehicle depth: 1535.095502 # Seafloor depth: -1585.970235 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.65; 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 41 # Segment length 100.110614 meters # Minimum depth: 1576.879057 meters looking forward 100.000000 meters along route # Maximum depth: 1594.519535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1526.879057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693174; longitude = -122.041360; duration = 200; initialDepth = 1520.412240; finalDepth = 1526.879057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0343639999999 # Actual altitude: 60.0343639999999 # Commanded vehicle depth: 1526.879057 # Seafloor depth: -1586.913421 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.01; 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 41 # Segment length 100.110659 meters # Minimum depth: 1570.412240 meters looking forward 100.000000 meters along route # Maximum depth: 1577.417995 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1520.412240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693155; longitude = -122.040240; duration = 200; initialDepth = 1486.964572; finalDepth = 1520.412240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.0343639999999 # Actual altitude: 60.0343639999999 # Commanded vehicle depth: 1520.41224 # Seafloor depth: -1577.417995 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.01; 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 41 # Segment length 100.110704 meters # Minimum depth: 1536.964572 meters looking forward 100.000000 meters along route # Maximum depth: 1566.943152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1486.964572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693137; longitude = -122.039120; duration = 200; initialDepth = 1460.831193; finalDepth = 1486.964572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.97858 # Actual altitude: 79.97858 # Commanded vehicle depth: 1486.964572 # Seafloor depth: -1566.943152 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.99; 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 41 # Segment length 100.110749 meters # Minimum depth: 1510.831193 meters looking forward 100.000000 meters along route # Maximum depth: 1536.926484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1460.831193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693118; longitude = -122.037999; duration = 200; initialDepth = 1479.053019; finalDepth = 1460.831193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.97858 # Actual altitude: 79.97858 # Commanded vehicle depth: 1460.831193 # Seafloor depth: -1526.740441 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.99; 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 41 # Segment length 100.110795 meters # Minimum depth: 1529.053019 meters looking forward 100.000000 meters along route # Maximum depth: 1550.332989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1479.053019 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693099; longitude = -122.036879; duration = 200; initialDepth = 1469.474682; finalDepth = 1479.053019; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.27997 # Actual altitude: 71.27997 # Commanded vehicle depth: 1479.053019 # Seafloor depth: -1550.332989 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.38; 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 41 # Segment length 100.110840 meters # Minimum depth: 1519.474682 meters looking forward 100.000000 meters along route # Maximum depth: 1530.121403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1469.474682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693081; longitude = -122.035759; duration = 200; initialDepth = 1446.200509; finalDepth = 1469.474682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.27997 # Actual altitude: 71.27997 # Commanded vehicle depth: 1469.474682 # Seafloor depth: -1530.121403 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.38; 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 41 # Segment length 103.413750 meters # Minimum depth: 1496.200509 meters looking forward 100.000000 meters along route # Maximum depth: 1516.593370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1446.200509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693062; longitude = -122.034638; duration = 206; initialDepth = 1445.646606; finalDepth = 1446.200509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 70.392861 # Actual altitude: 70.392861 # Commanded vehicle depth: 1446.200509 # Seafloor depth: -1516.593370 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.12; 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; } # ####################################################### # # 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 86.769304 meters # Minimum depth: 1495.646606 meters looking forward 100.000000 meters along route # Maximum depth: 1528.304348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1445.646606 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693043; longitude = -122.033481; duration = 173; # abortOnTimeout = True; initialDepth = 1482.326196; finalDepth = 1445.646606; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.392861 # Actual altitude: 70.392861 # Commanded vehicle depth: 1445.646606 # Seafloor depth: -1495.646606 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.12; 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 40 # Segment length 100.109893 meters # Minimum depth: 1532.326196 meters looking forward 100.000000 meters along route # Maximum depth: 1567.219715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1482.326196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.693824; longitude = -122.033530; duration = 200; initialDepth = 1521.245523; finalDepth = 1482.326196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1482.326196 # Seafloor depth: -1532.326196 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.109904 meters # Minimum depth: 1571.245523 meters looking forward 100.000000 meters along route # Maximum depth: 1598.112633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1521.245523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694725; longitude = -122.033587; duration = 200; initialDepth = 1544.180790; finalDepth = 1521.245523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1521.245523 # Seafloor depth: -1571.245523 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 100.109914 meters # Minimum depth: 1594.180790 meters looking forward 100.000000 meters along route # Maximum depth: 1597.012373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1544.180790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695627; longitude = -122.033644; duration = 200; initialDepth = 1540.013689; finalDepth = 1544.180790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8315830000001 # Actual altitude: 52.8315830000001 # Commanded vehicle depth: 1544.18079 # Seafloor depth: -1597.012373 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 40 # Segment length 100.109926 meters # Minimum depth: 1590.013689 meters looking forward 100.000000 meters along route # Maximum depth: 1595.791937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1540.013689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696528; longitude = -122.033700; duration = 200; initialDepth = 1534.453328; finalDepth = 1540.013689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0831579999999 # Actual altitude: 53.0831579999999 # Commanded vehicle depth: 1540.013689 # Seafloor depth: -1593.096847 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; 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 40 # Segment length 100.109936 meters # Minimum depth: 1584.453328 meters looking forward 100.000000 meters along route # Maximum depth: 1592.062370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1534.453328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697429; longitude = -122.033757; duration = 200; initialDepth = 1519.850128; finalDepth = 1534.453328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1646799999999 # Actual altitude: 56.1646799999999 # Commanded vehicle depth: 1534.453328 # Seafloor depth: -1590.618008 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.85; 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 40 # Segment length 100.109947 meters # Minimum depth: 1569.850128 meters looking forward 100.000000 meters along route # Maximum depth: 1586.508435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1519.850128 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698330; longitude = -122.033814; duration = 200; initialDepth = 1489.523849; finalDepth = 1519.850128; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6583069999999 # Actual altitude: 66.6583069999999 # Commanded vehicle depth: 1519.850128 # Seafloor depth: -1586.508435 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 40 # Segment length 103.461366 meters # Minimum depth: 1539.523849 meters looking forward 100.000000 meters along route # Maximum depth: 1566.124997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1489.523849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699232; longitude = -122.033870; duration = 206; initialDepth = 1451.255347; finalDepth = 1489.523849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 72.761023 # Actual altitude: 72.761023 # Commanded vehicle depth: 1489.523849 # Seafloor depth: -1562.284872 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.83; 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; } # ####################################################### # # 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 76.373736 meters # Minimum depth: 1501.255347 meters looking forward 100.000000 meters along route # Maximum depth: 1546.655510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1451.255347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700163; longitude = -122.033929; duration = 152; # abortOnTimeout = True; initialDepth = 1445.856422; finalDepth = 1451.255347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.471215 # Actual altitude: 86.471215 # Commanded vehicle depth: 1451.255347 # Seafloor depth: -1537.726562 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.94; 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 39 # Segment length 103.068786 meters # Minimum depth: 1495.856422 meters looking forward 100.000000 meters along route # Maximum depth: 1507.338032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1445.856422 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700498; longitude = -122.033182; duration = 206; initialDepth = 1430.475918; finalDepth = 1445.856422; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.471215 # Actual altitude: 86.471215 # Commanded vehicle depth: 1445.856422 # Seafloor depth: -1507.338032 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.94; 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 39 # Segment length 103.068347 meters # Minimum depth: 1480.475918 meters looking forward 100.000000 meters along route # Maximum depth: 1496.709626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1430.475918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700949; longitude = -122.032174; duration = 206; initialDepth = 1422.062861; finalDepth = 1430.475918; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.233708 # Actual altitude: 66.233708 # Commanded vehicle depth: 1430.475918 # Seafloor depth: -1496.709626 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 39 # Segment length 103.067909 meters # Minimum depth: 1472.062861 meters looking forward 100.000000 meters along route # Maximum depth: 1480.659091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1422.062861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701401; longitude = -122.031165; duration = 206; initialDepth = 1429.824968; finalDepth = 1422.062861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.233708 # Actual altitude: 66.233708 # Commanded vehicle depth: 1422.062861 # Seafloor depth: -1480.659091 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 39 # Segment length 103.067469 meters # Minimum depth: 1479.824968 meters looking forward 100.000000 meters along route # Maximum depth: 1493.919877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1429.824968 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701853; longitude = -122.030157; duration = 206; initialDepth = 1414.632561; finalDepth = 1429.824968; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5962299999999 # Actual altitude: 58.5962299999999 # Commanded vehicle depth: 1429.824968 # Seafloor depth: -1479.824968 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.58; 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 39 # Segment length 103.067031 meters # Minimum depth: 1464.632561 meters looking forward 100.000000 meters along route # Maximum depth: 1491.671634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1414.632561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702304; longitude = -122.029149; duration = 206; initialDepth = 1399.351065; finalDepth = 1414.632561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.774719 # Actual altitude: 74.774719 # Commanded vehicle depth: 1414.632561 # Seafloor depth: -1489.407280 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 39 # Segment length 103.066592 meters # Minimum depth: 1449.351065 meters looking forward 100.000000 meters along route # Maximum depth: 1463.824131 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1399.351065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702756; longitude = -122.028140; duration = 206; initialDepth = 1374.052386; finalDepth = 1399.351065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.774719 # Actual altitude: 74.774719 # Commanded vehicle depth: 1399.351065 # Seafloor depth: -1463.824131 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 39 # Segment length 103.066153 meters # Minimum depth: 1424.052386 meters looking forward 100.000000 meters along route # Maximum depth: 1449.046486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1374.052386 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703207; longitude = -122.027132; duration = 206; initialDepth = 1368.370028; finalDepth = 1374.052386; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.9940999999999 # Actual altitude: 74.9940999999999 # Commanded vehicle depth: 1374.052386 # Seafloor depth: -1449.046486 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.50; 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 39 # Segment length 103.065714 meters # Minimum depth: 1418.370028 meters looking forward 100.000000 meters along route # Maximum depth: 1425.202100 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1368.370028 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703659; longitude = -122.026124; duration = 206; initialDepth = 1373.251078; finalDepth = 1368.370028; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.9940999999999 # Actual altitude: 74.9940999999999 # Commanded vehicle depth: 1368.370028 # Seafloor depth: -1424.551837 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.50; 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 39 # Segment length 106.879602 meters # Minimum depth: 1423.251078 meters looking forward 100.000000 meters along route # Maximum depth: 1432.581801 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1373.251078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704111; longitude = -122.025116; duration = 213; initialDepth = 1358.919803; finalDepth = 1373.251078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.1818089999999 # Actual altitude: 56.1818089999999 # Commanded vehicle depth: 1373.251078 # Seafloor depth: -1423.411338 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.85; 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 to get to end of line 38 # Segment length 84.466430 meters # Minimum depth: 1408.919803 meters looking forward 100.000000 meters along route # Maximum depth: 1432.417594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1358.919803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704579; longitude = -122.024070; duration = 168; # abortOnTimeout = True; initialDepth = 1356.544566; finalDepth = 1358.919803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.800931 # Actual altitude: 72.800931 # Commanded vehicle depth: 1358.919803 # Seafloor depth: -1431.720734 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 38 # Segment length 101.367674 meters # Minimum depth: 1406.544566 meters looking forward 100.000000 meters along route # Maximum depth: 1418.319247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1356.544566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705180; longitude = -122.023489; duration = 202; initialDepth = 1364.602216; finalDepth = 1356.544566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.800931 # Actual altitude: 72.800931 # Commanded vehicle depth: 1356.544566 # Seafloor depth: -1416.224935 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 38 # Segment length 101.967012 meters # Minimum depth: 1414.602216 meters looking forward 100.000000 meters along route # Maximum depth: 1429.624275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1364.602216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705901; longitude = -122.022792; duration = 203; initialDepth = 1379.419194; finalDepth = 1364.602216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6803689999999 # Actual altitude: 59.6803689999999 # Commanded vehicle depth: 1364.602216 # Seafloor depth: -1415.393439 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 38 # Segment length 100.767327 meters # Minimum depth: 1429.419194 meters looking forward 100.000000 meters along route # Maximum depth: 1445.203736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1379.419194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706626; longitude = -122.022091; duration = 201; initialDepth = 1378.105434; finalDepth = 1379.419194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7912229999999 # Actual altitude: 50.7912229999999 # Commanded vehicle depth: 1379.419194 # Seafloor depth: -1429.654695 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 38 # Segment length 101.366665 meters # Minimum depth: 1428.105434 meters looking forward 100.000000 meters along route # Maximum depth: 1446.126306 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1378.105434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707343; longitude = -122.021398; duration = 202; initialDepth = 1365.767327; finalDepth = 1378.105434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0208720000001 # Actual altitude: 68.0208720000001 # Commanded vehicle depth: 1378.105434 # Seafloor depth: -1446.126306 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.41; 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 101.366329 meters # Minimum depth: 1415.767327 meters looking forward 100.000000 meters along route # Maximum depth: 1429.101857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1365.767327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708064; longitude = -122.020701; duration = 202; initialDepth = 1358.244452; finalDepth = 1365.767327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.0208720000001 # Actual altitude: 68.0208720000001 # Commanded vehicle depth: 1365.767327 # Seafloor depth: -1428.998759 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.41; 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 103.754946 meters # Minimum depth: 1408.244452 meters looking forward 100.000000 meters along route # Maximum depth: 1415.503456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1358.244452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708785; longitude = -122.020004; duration = 207; initialDepth = 1356.577967; finalDepth = 1358.244452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.231432 # Actual altitude: 63.231432 # Commanded vehicle depth: 1358.244452 # Seafloor depth: -1415.503456 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 38 # Segment length 103.232731 meters # Minimum depth: 1406.577967 meters looking forward 100.000000 meters along route # Maximum depth: 1412.495895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1356.577967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709523; longitude = -122.019290; duration = 206; initialDepth = 1363.412140; finalDepth = 1356.577967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.259004 # Actual altitude: 57.259004 # Commanded vehicle depth: 1356.577967 # Seafloor depth: -1407.925953 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.18; 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 37 # Segment length 166.833751 meters # Minimum depth: 1413.412140 meters looking forward 100.000000 meters along route # Maximum depth: 1456.036452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1363.412140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710257; longitude = -122.018580; duration = 333; # abortOnTimeout = True; initialDepth = 1408.144207; finalDepth = 1363.412140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.347986 # Actual altitude: 51.347986 # Commanded vehicle depth: 1363.41214 # Seafloor depth: -1413.412140 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.40; 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 37 # Segment length 102.401376 meters # Minimum depth: 1458.144207 meters looking forward 100.000000 meters along route # Maximum depth: 1476.902808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1408.144207 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710973; longitude = -122.016937; duration = 204; initialDepth = 1422.533810; finalDepth = 1408.144207; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1408.144207 # Seafloor depth: -1458.144207 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 102.400947 meters # Minimum depth: 1472.533810 meters looking forward 100.000000 meters along route # Maximum depth: 1477.893458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1422.533810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711412; longitude = -122.015929; duration = 204; initialDepth = 1414.067615; finalDepth = 1422.533810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1463880000001 # Actual altitude: 51.1463880000001 # Commanded vehicle depth: 1422.53381 # Seafloor depth: -1473.680198 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.34; 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 37 # Segment length 104.477312 meters # Minimum depth: 1464.067615 meters looking forward 100.000000 meters along route # Maximum depth: 1472.583018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1414.067615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711851; longitude = -122.014921; duration = 208; initialDepth = 1411.203203; finalDepth = 1414.067615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4463720000001 # Actual altitude: 58.4463720000001 # Commanded vehicle depth: 1414.067615 # Seafloor depth: -1472.513987 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 37 # Segment length 100.323293 meters # Minimum depth: 1461.203203 meters looking forward 100.000000 meters along route # Maximum depth: 1469.357251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1411.203203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712300; longitude = -122.013892; duration = 200; initialDepth = 1397.676490; finalDepth = 1411.203203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4463720000001 # Actual altitude: 58.4463720000001 # Commanded vehicle depth: 1411.203203 # Seafloor depth: -1464.292034 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 37 # Segment length 102.399659 meters # Minimum depth: 1447.676490 meters looking forward 100.000000 meters along route # Maximum depth: 1459.287730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1397.676490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712730; longitude = -122.012904; duration = 204; initialDepth = 1362.377527; finalDepth = 1397.676490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.61124 # Actual altitude: 61.61124 # Commanded vehicle depth: 1397.67649 # Seafloor depth: -1459.287730 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 37 # Segment length 102.399229 meters # Minimum depth: 1412.377527 meters looking forward 100.000000 meters along route # Maximum depth: 1437.952314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1362.377527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713169; longitude = -122.011896; duration = 204; initialDepth = 1328.237678; finalDepth = 1362.377527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.5747869999998 # Actual altitude: 75.5747869999998 # Commanded vehicle depth: 1362.377527 # Seafloor depth: -1437.952314 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.67; 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 37 # Segment length 102.398801 meters # Minimum depth: 1378.237678 meters looking forward 100.000000 meters along route # Maximum depth: 1412.495476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1328.237678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713609; longitude = -122.010888; duration = 204; initialDepth = 1310.216925; finalDepth = 1328.237678; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2577980000001 # Actual altitude: 84.2577980000001 # Commanded vehicle depth: 1328.237678 # Seafloor depth: -1412.495476 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.28; 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 37 # Segment length 102.398371 meters # Minimum depth: 1360.216925 meters looking forward 100.000000 meters along route # Maximum depth: 1374.903900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1310.216925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714048; longitude = -122.009879; duration = 204; initialDepth = 1262.118224; finalDepth = 1310.216925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.2577980000001 # Actual altitude: 84.2577980000001 # Commanded vehicle depth: 1310.216925 # Seafloor depth: -1374.903900 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.28; 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 37 # Segment length 106.231495 meters # Minimum depth: 1312.118224 meters looking forward 100.000000 meters along route # Maximum depth: 1362.542419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1262.118224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714487; longitude = -122.008871; duration = 212; initialDepth = 1256.667023; finalDepth = 1262.118224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 100.424195 # Actual altitude: 100 # Commanded vehicle depth: 1262.118224 # Seafloor depth: -1362.542419 # 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 = 25; 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 36 # Segment length 137.781249 meters # Minimum depth: 1306.667023 meters looking forward 100.000000 meters along route # Maximum depth: 1340.582776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1256.667023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714943; longitude = -122.007825; duration = 275; # abortOnTimeout = True; initialDepth = 1294.491322; finalDepth = 1256.667023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.424195 # Actual altitude: 100 # Commanded vehicle depth: 1256.667023 # Seafloor depth: -1306.667023 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 100.797364 meters # Minimum depth: 1344.491322 meters looking forward 100.000000 meters along route # Maximum depth: 1373.044895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1294.491322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716175; longitude = -122.008021; duration = 201; initialDepth = 1324.212780; finalDepth = 1294.491322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1294.491322 # Seafloor depth: -1344.491322 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 103.387974 meters # Minimum depth: 1374.212780 meters looking forward 100.000000 meters along route # Maximum depth: 1390.648182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1324.212780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717076; longitude = -122.008164; duration = 206; initialDepth = 1341.711679; finalDepth = 1324.212780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.362398 # Actual altitude: 53.362398 # Commanded vehicle depth: 1324.21278 # Seafloor depth: -1377.575178 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 36 # Segment length 104.957460 meters # Minimum depth: 1391.711679 meters looking forward 100.000000 meters along route # Maximum depth: 1416.832672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1341.711679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718001; longitude = -122.008311; duration = 209; initialDepth = 1346.285772; finalDepth = 1341.711679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.362398 # Actual altitude: 53.362398 # Commanded vehicle depth: 1341.711679 # Seafloor depth: -1391.711679 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 35 # Segment length 95.327372 meters # Minimum depth: 1396.285772 meters looking forward 100.000000 meters along route # Maximum depth: 1400.738482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1346.285772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718939; longitude = -122.008460; duration = 190; # abortOnTimeout = True; initialDepth = 1344.718931; finalDepth = 1346.285772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.015345 # Actual altitude: 54.015345 # Commanded vehicle depth: 1346.285772 # Seafloor depth: -1400.301117 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 35 # Segment length 102.169990 meters # Minimum depth: 1394.718931 meters looking forward 100.000000 meters along route # Maximum depth: 1402.525259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1344.718931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719780; longitude = -122.008680; duration = 204; initialDepth = 1324.257840; finalDepth = 1344.718931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1260949999999 # Actual altitude: 56.1260949999999 # Commanded vehicle depth: 1344.718931 # Seafloor depth: -1400.845026 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 35 # Segment length 102.169950 meters # Minimum depth: 1374.257840 meters looking forward 100.000000 meters along route # Maximum depth: 1397.625783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1324.257840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720681; longitude = -122.008915; duration = 204; initialDepth = 1316.976563; finalDepth = 1324.257840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.367943 # Actual altitude: 73.367943 # Commanded vehicle depth: 1324.25784 # Seafloor depth: -1397.625783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.01; 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 35 # Segment length 105.615683 meters # Minimum depth: 1366.976563 meters looking forward 100.000000 meters along route # Maximum depth: 1380.602400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1316.976563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721582; longitude = -122.009151; duration = 211; initialDepth = 1329.842651; finalDepth = 1316.976563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 73.367943 # Actual altitude: 73.367943 # Commanded vehicle depth: 1316.976563 # Seafloor depth: -1379.224051 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.01; 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 34 # Segment length 146.679406 meters # Minimum depth: 1379.842651 meters looking forward 100.000000 meters along route # Maximum depth: 1403.627124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1329.842651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722514; longitude = -122.009394; duration = 293; # abortOnTimeout = True; initialDepth = 1352.404552; finalDepth = 1329.842651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.247488 # Actual altitude: 62.247488 # Commanded vehicle depth: 1329.842651 # Seafloor depth: -1379.842651 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.67; 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 34 # Segment length 102.344609 meters # Minimum depth: 1402.404552 meters looking forward 100.000000 meters along route # Maximum depth: 1405.017479 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1352.404552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722236; longitude = -122.011000; duration = 204; initialDepth = 1354.450715; finalDepth = 1352.404552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1032030000001 # Actual altitude: 51.1032030000001 # Commanded vehicle depth: 1352.404552 # Seafloor depth: -1403.507755 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 34 # Segment length 102.344834 meters # Minimum depth: 1404.450715 meters looking forward 100.000000 meters along route # Maximum depth: 1412.888014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1354.450715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722042; longitude = -122.012120; duration = 204; initialDepth = 1360.822065; finalDepth = 1354.450715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.658578 # Actual altitude: 51.658578 # Commanded vehicle depth: 1354.450715 # Seafloor depth: -1406.109293 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.50; 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 34 # Segment length 102.345057 meters # Minimum depth: 1410.822065 meters looking forward 100.000000 meters along route # Maximum depth: 1429.238680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1360.822065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721847; longitude = -122.013240; duration = 204; initialDepth = 1373.506030; finalDepth = 1360.822065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.658578 # Actual altitude: 51.658578 # Commanded vehicle depth: 1360.822065 # Seafloor depth: -1410.822065 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.50; 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 34 # Segment length 102.345281 meters # Minimum depth: 1423.506030 meters looking forward 100.000000 meters along route # Maximum depth: 1433.059242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1373.506030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721653; longitude = -122.014361; duration = 204; initialDepth = 1360.877266; finalDepth = 1373.506030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8561219999999 # Actual altitude: 56.8561219999999 # Commanded vehicle depth: 1373.50603 # Seafloor depth: -1430.362152 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 34 # Segment length 109.178352 meters # Minimum depth: 1410.877266 meters looking forward 100.000000 meters along route # Maximum depth: 1431.309189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1360.877266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721459; longitude = -122.015481; duration = 218; initialDepth = 1369.548462; finalDepth = 1360.877266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.189206 # Actual altitude: 58.189206 # Commanded vehicle depth: 1360.877266 # Seafloor depth: -1419.066472 # 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 = 25; 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; } # ####################################################### # # 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 106.245188 meters # Minimum depth: 1419.548462 meters looking forward 100.000000 meters along route # Maximum depth: 1432.229045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1369.548462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721252; longitude = -122.016676; duration = 212; # abortOnTimeout = True; initialDepth = 1379.603749; finalDepth = 1369.548462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.189206 # Actual altitude: 58.189206 # Commanded vehicle depth: 1369.548462 # Seafloor depth: -1419.548462 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 102.807917 meters # Minimum depth: 1429.603749 meters looking forward 100.000000 meters along route # Maximum depth: 1437.542643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1379.603749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720321; longitude = -122.016399; duration = 205; initialDepth = 1381.690120; finalDepth = 1379.603749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.1441829999999 # Actual altitude: 52.1441829999999 # Commanded vehicle depth: 1379.603749 # Seafloor depth: -1431.747932 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.64; 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 33 # Segment length 106.246679 meters # Minimum depth: 1431.690120 meters looking forward 100.000000 meters along route # Maximum depth: 1436.660912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1381.690120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719419; longitude = -122.016131; duration = 212; initialDepth = 1376.540890; finalDepth = 1381.690120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.1441829999999 # Actual altitude: 52.1441829999999 # Commanded vehicle depth: 1381.69012 # Seafloor depth: -1432.704141 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.64; 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 to get to end of line 32 # Segment length 106.668139 meters # Minimum depth: 1426.540890 meters looking forward 100.000000 meters along route # Maximum depth: 1434.458804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1376.540890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718488; longitude = -122.015854; duration = 213; # abortOnTimeout = True; initialDepth = 1375.669973; finalDepth = 1376.540890; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4753450000001 # Actual altitude: 56.4753450000001 # Commanded vehicle depth: 1376.54089 # Seafloor depth: -1433.016235 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 100.012104 meters # Minimum depth: 1425.669973 meters looking forward 100.000000 meters along route # Maximum depth: 1429.449433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1375.669973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717527; longitude = -122.015825; duration = 200; initialDepth = 1377.218998; finalDepth = 1375.669973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4753450000001 # Actual altitude: 56.4753450000001 # Commanded vehicle depth: 1375.669973 # Seafloor depth: -1426.854852 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 100.012090 meters # Minimum depth: 1427.218998 meters looking forward 100.000000 meters along route # Maximum depth: 1437.358265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1377.218998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716626; longitude = -122.015798; duration = 200; initialDepth = 1373.669639; finalDepth = 1377.218998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.2364619999998 # Actual altitude: 51.2364619999998 # Commanded vehicle depth: 1377.218998 # Seafloor depth: -1428.455460 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.37; 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 32 # Segment length 103.347505 meters # Minimum depth: 1423.669639 meters looking forward 100.000000 meters along route # Maximum depth: 1437.527719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1373.669639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715724; longitude = -122.015770; duration = 206; initialDepth = 1381.345215; finalDepth = 1373.669639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.2364619999998 # Actual altitude: 51.2364619999998 # Commanded vehicle depth: 1373.669639 # Seafloor depth: -1423.669639 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.37; 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 to get to end of line 31 # Segment length 158.653245 meters # Minimum depth: 1431.345215 meters looking forward 100.000000 meters along route # Maximum depth: 1446.728725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1381.345215 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714793; longitude = -122.015742; duration = 317; # abortOnTimeout = True; initialDepth = 1397.412602; finalDepth = 1381.345215; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1381.345215 # Seafloor depth: -1431.345215 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 101.269138 meters # Minimum depth: 1447.412602 meters looking forward 100.000000 meters along route # Maximum depth: 1463.418999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1397.412602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713381; longitude = -122.016024; duration = 202; initialDepth = 1403.071127; finalDepth = 1397.412602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1397.412602 # Seafloor depth: -1447.412602 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.269150 meters # Minimum depth: 1453.071127 meters looking forward 100.000000 meters along route # Maximum depth: 1464.301926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1403.071127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712480; longitude = -122.016204; duration = 202; initialDepth = 1413.750861; finalDepth = 1403.071127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2836500000001 # Actual altitude: 59.2836500000001 # Commanded vehicle depth: 1403.071127 # Seafloor depth: -1462.354777 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 31 # Segment length 101.269162 meters # Minimum depth: 1463.750861 meters looking forward 100.000000 meters along route # Maximum depth: 1479.030446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1413.750861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711579; longitude = -122.016385; duration = 202; initialDepth = 1429.010907; finalDepth = 1413.750861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2836500000001 # Actual altitude: 59.2836500000001 # Commanded vehicle depth: 1413.750861 # Seafloor depth: -1463.750861 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 31 # Segment length 104.652213 meters # Minimum depth: 1479.010907 meters looking forward 100.000000 meters along route # Maximum depth: 1493.766518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1429.010907 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710677; longitude = -122.016565; duration = 209; initialDepth = 1433.991484; finalDepth = 1429.010907; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1429.010907 # Seafloor depth: -1479.010907 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 160.938081 meters # Minimum depth: 1483.991484 meters looking forward 100.000000 meters along route # Maximum depth: 1488.331818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1433.991484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709746; longitude = -122.016751; duration = 321; # abortOnTimeout = True; initialDepth = 1431.666150; finalDepth = 1433.991484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3403340000002 # Actual altitude: 54.3403340000002 # Commanded vehicle depth: 1433.991484 # Seafloor depth: -1488.331818 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.30; 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 30 # Segment length 101.651408 meters # Minimum depth: 1481.666150 meters looking forward 100.000000 meters along route # Maximum depth: 1483.730297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1431.666150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708604; longitude = -122.017863; duration = 203; initialDepth = 1431.811064; finalDepth = 1431.666150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.3403340000002 # Actual altitude: 54.3403340000002 # Commanded vehicle depth: 1431.66615 # Seafloor depth: -1483.730297 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.30; 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 30 # Segment length 101.651748 meters # Minimum depth: 1481.811064 meters looking forward 100.000000 meters along route # Maximum depth: 1486.072807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1431.811064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707884; longitude = -122.018565; duration = 203; initialDepth = 1428.111883; finalDepth = 1431.811064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.064147 # Actual altitude: 52.064147 # Commanded vehicle depth: 1431.811064 # Seafloor depth: -1483.689402 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; 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 30 # Segment length 101.652089 meters # Minimum depth: 1478.111883 meters looking forward 100.000000 meters along route # Maximum depth: 1487.111346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1428.111883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707163; longitude = -122.019268; duration = 203; initialDepth = 1429.837444; finalDepth = 1428.111883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9665749999999 # Actual altitude: 52.9665749999999 # Commanded vehicle depth: 1428.111883 # Seafloor depth: -1481.078458 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 30 # Segment length 101.652430 meters # Minimum depth: 1479.837444 meters looking forward 100.000000 meters along route # Maximum depth: 1487.471920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1429.837444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706442; longitude = -122.019970; duration = 203; initialDepth = 1410.773786; finalDepth = 1429.837444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2357039999999 # Actual altitude: 57.2357039999999 # Commanded vehicle depth: 1429.837444 # Seafloor depth: -1487.073148 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.17; 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 30 # Segment length 101.652769 meters # Minimum depth: 1460.773786 meters looking forward 100.000000 meters along route # Maximum depth: 1478.999892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1410.773786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705721; longitude = -122.020672; duration = 203; initialDepth = 1406.843282; finalDepth = 1410.773786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.2261060000001 # Actual altitude: 68.2261060000001 # Commanded vehicle depth: 1410.773786 # Seafloor depth: -1478.999892 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.47; 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 30 # Segment length 103.683155 meters # Minimum depth: 1456.843282 meters looking forward 100.000000 meters along route # Maximum depth: 1468.467882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1406.843282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705000; longitude = -122.021374; duration = 207; initialDepth = 1405.045277; finalDepth = 1406.843282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.2261060000001 # Actual altitude: 68.2261060000001 # Commanded vehicle depth: 1406.843282 # Seafloor depth: -1468.467882 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.47; 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 30 # Segment length 108.159659 meters # Minimum depth: 1455.045277 meters looking forward 100.000000 meters along route # Maximum depth: 1465.657494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1405.045277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704264; longitude = -122.022091; duration = 216; initialDepth = 1409.913049; finalDepth = 1405.045277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.6245999999999 # Actual altitude: 61.6245999999999 # Commanded vehicle depth: 1405.045277 # Seafloor depth: -1458.407057 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 29 # Segment length 85.184640 meters # Minimum depth: 1459.913049 meters looking forward 100.000000 meters along route # Maximum depth: 1466.514891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1409.913049 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703497; longitude = -122.022838; duration = 170; # abortOnTimeout = True; initialDepth = 1412.282867; finalDepth = 1409.913049; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.610694 # Actual altitude: 53.610694 # Commanded vehicle depth: 1409.913049 # Seafloor depth: -1463.523743 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.08; 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 29 # Segment length 104.592922 meters # Minimum depth: 1462.282867 meters looking forward 100.000000 meters along route # Maximum depth: 1467.847683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1412.282867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703107; longitude = -122.023659; duration = 209; initialDepth = 1407.273101; finalDepth = 1412.282867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.241853 # Actual altitude: 54.241853 # Commanded vehicle depth: 1412.282867 # Seafloor depth: -1466.524720 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 29 # Segment length 104.593381 meters # Minimum depth: 1457.273101 meters looking forward 100.000000 meters along route # Maximum depth: 1466.560853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1407.273101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702627; longitude = -122.024667; duration = 209; initialDepth = 1415.820089; finalDepth = 1407.273101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.499358 # Actual altitude: 54.499358 # Commanded vehicle depth: 1407.273101 # Seafloor depth: -1461.772459 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 29 # Segment length 105.433245 meters # Minimum depth: 1465.820089 meters looking forward 100.000000 meters along route # Maximum depth: 1491.499019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1415.820089 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702148; longitude = -122.025676; duration = 210; initialDepth = 1433.965354; finalDepth = 1415.820089; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.499358 # Actual altitude: 54.499358 # Commanded vehicle depth: 1415.820089 # Seafloor depth: -1465.820089 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 29 # Segment length 103.754896 meters # Minimum depth: 1483.965354 meters looking forward 100.000000 meters along route # Maximum depth: 1492.463343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1433.965354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701665; longitude = -122.026692; duration = 207; initialDepth = 1441.765998; finalDepth = 1433.965354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.097849 # Actual altitude: 55.097849 # Commanded vehicle depth: 1433.965354 # Seafloor depth: -1489.063203 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 104.594759 meters # Minimum depth: 1491.765998 meters looking forward 100.000000 meters along route # Maximum depth: 1524.239182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1441.765998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701189; longitude = -122.027692; duration = 209; initialDepth = 1475.109331; finalDepth = 1441.765998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.097849 # Actual altitude: 55.097849 # Commanded vehicle depth: 1441.765998 # Seafloor depth: -1491.765998 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 106.334389 meters # Minimum depth: 1525.109331 meters looking forward 100.000000 meters along route # Maximum depth: 1556.589612 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1475.109331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700710; longitude = -122.028701; duration = 212; initialDepth = 1507.871383; finalDepth = 1475.109331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1475.109331 # Seafloor depth: -1525.109331 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 102.856507 meters # Minimum depth: 1557.871383 meters looking forward 100.000000 meters along route # Maximum depth: 1574.711621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1507.871383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700223; longitude = -122.029726; duration = 205; initialDepth = 1513.103577; finalDepth = 1507.871383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1507.871383 # Seafloor depth: -1557.871383 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 104.596138 meters # Minimum depth: 1563.103577 meters looking forward 100.000000 meters along route # Maximum depth: 1576.350337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1513.103577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699752; longitude = -122.030717; duration = 209; initialDepth = 1520.536797; finalDepth = 1513.103577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1513.103577 # Seafloor depth: -1563.103577 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.681439 meters # Minimum depth: 1570.536797 meters looking forward 100.000000 meters along route # Maximum depth: 1580.224029 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1520.536797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699272; longitude = -122.031725; duration = 201; initialDepth = 1526.598989; finalDepth = 1520.536797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.4169429999999 # Actual altitude: 53.4169429999999 # Commanded vehicle depth: 1520.536797 # Seafloor depth: -1573.953740 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.03; 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 to get to end of line 28 # Segment length 113.494916 meters # Minimum depth: 1576.598989 meters looking forward 100.000000 meters along route # Maximum depth: 1580.791045 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1526.598989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698811; longitude = -122.032696; duration = 226; # abortOnTimeout = True; initialDepth = 1526.321780; finalDepth = 1526.598989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.4169429999999 # Actual altitude: 53.4169429999999 # Commanded vehicle depth: 1526.598989 # Seafloor depth: -1578.956055 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.03; 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 28 # Segment length 100.111205 meters # Minimum depth: 1576.321780 meters looking forward 100.000000 meters along route # Maximum depth: 1583.800803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1526.321780 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698836; longitude = -122.033966; duration = 200; initialDepth = 1523.628546; finalDepth = 1526.321780; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.452104 # Actual altitude: 54.452104 # Commanded vehicle depth: 1526.32178 # Seafloor depth: -1580.773884 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.34; 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 28 # Segment length 100.111156 meters # Minimum depth: 1573.628546 meters looking forward 100.000000 meters along route # Maximum depth: 1582.159053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1523.628546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698857; longitude = -122.035086; duration = 200; initialDepth = 1515.177396; finalDepth = 1523.628546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5305070000002 # Actual altitude: 58.5305070000002 # Commanded vehicle depth: 1523.628546 # Seafloor depth: -1582.159053 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.111106 meters # Minimum depth: 1565.177396 meters looking forward 100.000000 meters along route # Maximum depth: 1574.227707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1515.177396 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698879; longitude = -122.036207; duration = 200; initialDepth = 1517.419060; finalDepth = 1515.177396; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5633949999999 # Actual altitude: 58.5633949999999 # Commanded vehicle depth: 1515.177396 # Seafloor depth: -1573.740791 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.57; 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 28 # Segment length 100.111056 meters # Minimum depth: 1567.419060 meters looking forward 100.000000 meters along route # Maximum depth: 1573.110545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1517.419060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698901; longitude = -122.037327; duration = 200; initialDepth = 1505.235039; finalDepth = 1517.419060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.5633949999999 # Actual altitude: 58.5633949999999 # Commanded vehicle depth: 1517.41906 # Seafloor depth: -1567.419060 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.57; 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 28 # Segment length 100.111007 meters # Minimum depth: 1555.235039 meters looking forward 100.000000 meters along route # Maximum depth: 1571.735467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1505.235039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698923; longitude = -122.038447; duration = 200; initialDepth = 1492.072642; finalDepth = 1505.235039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5004280000001 # Actual altitude: 66.5004280000001 # Commanded vehicle depth: 1505.235039 # Seafloor depth: -1571.735467 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.95; 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 28 # Segment length 100.110958 meters # Minimum depth: 1542.072642 meters looking forward 100.000000 meters along route # Maximum depth: 1556.694488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1492.072642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698944; longitude = -122.039568; duration = 200; initialDepth = 1499.428625; finalDepth = 1492.072642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.5004280000001 # Actual altitude: 66.5004280000001 # Commanded vehicle depth: 1492.072642 # Seafloor depth: -1556.694488 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.95; 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 28 # Segment length 100.110909 meters # Minimum depth: 1549.428625 meters looking forward 100.000000 meters along route # Maximum depth: 1564.377259 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1499.428625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698966; longitude = -122.040688; duration = 200; initialDepth = 1487.469775; finalDepth = 1499.428625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.621846 # Actual altitude: 64.621846 # Commanded vehicle depth: 1499.428625 # Seafloor depth: -1549.436055 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110859 meters # Minimum depth: 1537.469775 meters looking forward 100.000000 meters along route # Maximum depth: 1561.261891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1487.469775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698988; longitude = -122.041808; duration = 200; initialDepth = 1475.212425; finalDepth = 1487.469775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7921160000001 # Actual altitude: 73.7921160000001 # Commanded vehicle depth: 1487.469775 # Seafloor depth: -1561.261891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110810 meters # Minimum depth: 1525.212425 meters looking forward 100.000000 meters along route # Maximum depth: 1535.608933 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1475.212425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699010; longitude = -122.042929; duration = 200; initialDepth = 1468.841057; finalDepth = 1475.212425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.7921160000001 # Actual altitude: 73.7921160000001 # Commanded vehicle depth: 1475.212425 # Seafloor depth: -1535.608933 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110760 meters # Minimum depth: 1518.841057 meters looking forward 100.000000 meters along route # Maximum depth: 1533.776910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1468.841057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699031; longitude = -122.044049; duration = 200; initialDepth = 1476.441796; finalDepth = 1468.841057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.396508 # Actual altitude: 60.396508 # Commanded vehicle depth: 1468.841057 # Seafloor depth: -1524.568780 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110712 meters # Minimum depth: 1526.441796 meters looking forward 100.000000 meters along route # Maximum depth: 1534.834144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1476.441796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699053; longitude = -122.045169; duration = 200; initialDepth = 1471.672863; finalDepth = 1476.441796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.127714 # Actual altitude: 58.127714 # Commanded vehicle depth: 1476.441796 # Seafloor depth: -1534.569510 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110662 meters # Minimum depth: 1521.672863 meters looking forward 100.000000 meters along route # Maximum depth: 1526.349470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1471.672863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699075; longitude = -122.046290; duration = 200; initialDepth = 1478.475426; finalDepth = 1471.672863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.127714 # Actual altitude: 58.127714 # Commanded vehicle depth: 1471.672863 # Seafloor depth: -1524.516441 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110613 meters # Minimum depth: 1528.475426 meters looking forward 100.000000 meters along route # Maximum depth: 1553.270155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1478.475426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699097; longitude = -122.047410; duration = 200; initialDepth = 1505.488962; finalDepth = 1478.475426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.843578 # Actual altitude: 52.843578 # Commanded vehicle depth: 1478.475426 # Seafloor depth: -1528.475426 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110563 meters # Minimum depth: 1555.488962 meters looking forward 100.000000 meters along route # Maximum depth: 1563.379614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1505.488962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699118; longitude = -122.048530; duration = 200; initialDepth = 1510.653030; finalDepth = 1505.488962; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1505.488962 # Seafloor depth: -1555.488962 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.110515 meters # Minimum depth: 1560.653030 meters looking forward 100.000000 meters along route # Maximum depth: 1566.407235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1510.653030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699140; longitude = -122.049650; duration = 200; initialDepth = 1508.180667; finalDepth = 1510.653030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.5416580000001 # Actual altitude: 52.5416580000001 # Commanded vehicle depth: 1510.65303 # Seafloor depth: -1563.194688 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; 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 28 # Segment length 100.110465 meters # Minimum depth: 1558.180667 meters looking forward 100.000000 meters along route # Maximum depth: 1565.453494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1508.180667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699162; longitude = -122.050771; duration = 200; initialDepth = 1518.913859; finalDepth = 1508.180667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4162899999999 # Actual altitude: 54.4162899999999 # Commanded vehicle depth: 1508.180667 # Seafloor depth: -1562.596957 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.32; 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 28 # Segment length 100.110417 meters # Minimum depth: 1568.913859 meters looking forward 100.000000 meters along route # Maximum depth: 1586.172831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1518.913859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699184; longitude = -122.051891; duration = 200; initialDepth = 1540.259527; finalDepth = 1518.913859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4162899999999 # Actual altitude: 54.4162899999999 # Commanded vehicle depth: 1518.913859 # Seafloor depth: -1570.863932 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.32; 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 28 # Segment length 100.110367 meters # Minimum depth: 1590.259527 meters looking forward 100.000000 meters along route # Maximum depth: 1603.509971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1540.259527 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699205; longitude = -122.053011; duration = 200; initialDepth = 1533.585048; finalDepth = 1540.259527; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.950073 # Actual altitude: 51.950073 # Commanded vehicle depth: 1540.259527 # Seafloor depth: -1590.624967 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110318 meters # Minimum depth: 1583.585048 meters looking forward 100.000000 meters along route # Maximum depth: 1612.382925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1533.585048 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699227; longitude = -122.054132; duration = 200; initialDepth = 1561.091204; finalDepth = 1533.585048; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.660531 # Actual altitude: 65.660531 # Commanded vehicle depth: 1533.585048 # Seafloor depth: -1599.245579 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110270 meters # Minimum depth: 1611.091204 meters looking forward 100.000000 meters along route # Maximum depth: 1622.548429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1561.091204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699249; longitude = -122.055252; duration = 200; initialDepth = 1576.231223; finalDepth = 1561.091204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.660531 # Actual altitude: 65.660531 # Commanded vehicle depth: 1561.091204 # Seafloor depth: -1611.091204 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110220 meters # Minimum depth: 1626.231223 meters looking forward 100.000000 meters along route # Maximum depth: 1645.291678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1576.231223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699271; longitude = -122.056372; duration = 200; initialDepth = 1599.967706; finalDepth = 1576.231223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1576.231223 # Seafloor depth: -1626.231223 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.110171 meters # Minimum depth: 1649.967706 meters looking forward 100.000000 meters along route # Maximum depth: 1682.910476 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1599.967706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699292; longitude = -122.057493; duration = 200; initialDepth = 1630.975020; finalDepth = 1599.967706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1599.967706 # Seafloor depth: -1649.967706 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.110123 meters # Minimum depth: 1680.975020 meters looking forward 100.000000 meters along route # Maximum depth: 1691.168062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1630.975020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699314; longitude = -122.058613; duration = 200; initialDepth = 1631.051794; finalDepth = 1630.975020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1930419999999 # Actual altitude: 60.1930419999999 # Commanded vehicle depth: 1630.97502 # Seafloor depth: -1691.168062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110073 meters # Minimum depth: 1681.051794 meters looking forward 100.000000 meters along route # Maximum depth: 1695.557697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1631.051794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699336; longitude = -122.059733; duration = 200; initialDepth = 1650.538998; finalDepth = 1631.051794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1930419999999 # Actual altitude: 60.1930419999999 # Commanded vehicle depth: 1631.051794 # Seafloor depth: -1681.051794 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.110024 meters # Minimum depth: 1700.538998 meters looking forward 100.000000 meters along route # Maximum depth: 1718.754856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1650.538998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699358; longitude = -122.060854; duration = 200; initialDepth = 1669.489030; finalDepth = 1650.538998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1650.538998 # Seafloor depth: -1700.538998 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.109976 meters # Minimum depth: 1719.489030 meters looking forward 100.000000 meters along route # Maximum depth: 1725.805241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1669.489030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699379; longitude = -122.061974; duration = 200; initialDepth = 1676.439792; finalDepth = 1669.489030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1669.48903 # Seafloor depth: -1719.489030 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.109927 meters # Minimum depth: 1726.439792 meters looking forward 100.000000 meters along route # Maximum depth: 1734.539918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1676.439792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699401; longitude = -122.063094; duration = 200; initialDepth = 1684.786214; finalDepth = 1676.439792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1676.439792 # Seafloor depth: -1726.439792 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 100.109878 meters # Minimum depth: 1734.786214 meters looking forward 100.000000 meters along route # Maximum depth: 1737.866343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1684.786214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699423; longitude = -122.064215; duration = 200; initialDepth = 1687.142202; finalDepth = 1684.786214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0848800000001 # Actual altitude: 50.0848800000001 # Commanded vehicle depth: 1684.786214 # Seafloor depth: -1734.871094 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.03; 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 28 # Segment length 100.109829 meters # Minimum depth: 1737.142202 meters looking forward 100.000000 meters along route # Maximum depth: 1743.076384 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1687.142202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699444; longitude = -122.065335; duration = 200; initialDepth = 1692.823146; finalDepth = 1687.142202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.160171 # Actual altitude: 52.160171 # Commanded vehicle depth: 1687.142202 # Seafloor depth: -1739.302373 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.65; 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 28 # Segment length 100.109780 meters # Minimum depth: 1742.823146 meters looking forward 100.000000 meters along route # Maximum depth: 1747.363135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1692.823146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699466; longitude = -122.066455; duration = 200; initialDepth = 1697.249676; finalDepth = 1692.823146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.160171 # Actual altitude: 52.160171 # Commanded vehicle depth: 1692.823146 # Seafloor depth: -1743.889443 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.65; 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 28 # Segment length 100.109732 meters # Minimum depth: 1747.249676 meters looking forward 100.000000 meters along route # Maximum depth: 1759.102545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1697.249676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699488; longitude = -122.067576; duration = 200; initialDepth = 1703.067402; finalDepth = 1697.249676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0662970000001 # Actual altitude: 51.0662970000001 # Commanded vehicle depth: 1697.249676 # Seafloor depth: -1747.249676 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 28 # Segment length 100.109683 meters # Minimum depth: 1753.067402 meters looking forward 100.000000 meters along route # Maximum depth: 1756.752202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1703.067402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699510; longitude = -122.068696; duration = 200; initialDepth = 1706.963577; finalDepth = 1703.067402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7128280000002 # Actual altitude: 50.7128280000002 # Commanded vehicle depth: 1703.067402 # Seafloor depth: -1753.780230 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.21; 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 28 # Segment length 100.109634 meters # Minimum depth: 1756.963577 meters looking forward 100.000000 meters along route # Maximum depth: 1761.641464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1706.963577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699531; longitude = -122.069816; duration = 200; initialDepth = 1709.272086; finalDepth = 1706.963577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7128280000002 # Actual altitude: 50.7128280000002 # Commanded vehicle depth: 1706.963577 # Seafloor depth: -1757.088911 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.21; 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 28 # Segment length 109.510313 meters # Minimum depth: 1759.272086 meters looking forward 100.000000 meters along route # Maximum depth: 1768.307680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1709.272086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699553; longitude = -122.070936; duration = 219; initialDepth = 1716.315613; finalDepth = 1709.272086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.37454 # Actual altitude: 53.37454 # Commanded vehicle depth: 1709.272086 # Seafloor depth: -1762.646626 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 27 # Segment length 170.759078 meters # Minimum depth: 1766.315613 meters looking forward 100.000000 meters along route # Maximum depth: 1772.338682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1716.315613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699577; longitude = -122.072162; duration = 341; # abortOnTimeout = True; initialDepth = 1720.009030; finalDepth = 1716.315613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.37454 # Actual altitude: 53.37454 # Commanded vehicle depth: 1716.315613 # Seafloor depth: -1766.315613 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087591 meters # Minimum depth: 1770.009030 meters looking forward 100.000000 meters along route # Maximum depth: 1777.039493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1720.009030 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699595; longitude = -122.074073; duration = 200; initialDepth = 1727.548307; finalDepth = 1720.009030; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8992560000002 # Actual altitude: 54.8992560000002 # Commanded vehicle depth: 1720.00903 # Seafloor depth: -1774.908286 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087557 meters # Minimum depth: 1777.548307 meters looking forward 100.000000 meters along route # Maximum depth: 1781.513404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1727.548307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699606; longitude = -122.075194; duration = 200; initialDepth = 1730.491722; finalDepth = 1727.548307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8992560000002 # Actual altitude: 54.8992560000002 # Commanded vehicle depth: 1727.548307 # Seafloor depth: -1779.124966 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087522 meters # Minimum depth: 1780.491722 meters looking forward 100.000000 meters along route # Maximum depth: 1789.049217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1730.491722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699617; longitude = -122.076314; duration = 200; initialDepth = 1737.406252; finalDepth = 1730.491722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5766590000001 # Actual altitude: 51.5766590000001 # Commanded vehicle depth: 1730.491722 # Seafloor depth: -1780.491722 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087488 meters # Minimum depth: 1787.406252 meters looking forward 100.000000 meters along route # Maximum depth: 1795.609405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1737.406252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699628; longitude = -122.077434; duration = 200; initialDepth = 1743.320775; finalDepth = 1737.406252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.12445 # Actual altitude: 53.12445 # Commanded vehicle depth: 1737.406252 # Seafloor depth: -1790.530702 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.94; 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 100.087453 meters # Minimum depth: 1793.320775 meters looking forward 100.000000 meters along route # Maximum depth: 1798.549330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1743.320775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699639; longitude = -122.078555; duration = 200; initialDepth = 1746.614650; finalDepth = 1743.320775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.12445 # Actual altitude: 53.12445 # Commanded vehicle depth: 1743.320775 # Seafloor depth: -1794.961642 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.94; 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 100.087419 meters # Minimum depth: 1796.614650 meters looking forward 100.000000 meters along route # Maximum depth: 1808.237133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1746.614650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699649; longitude = -122.079675; duration = 200; initialDepth = 1750.522424; finalDepth = 1746.614650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.6408670000001 # Actual altitude: 51.6408670000001 # Commanded vehicle depth: 1746.61465 # Seafloor depth: -1797.138476 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.49; 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 100.087385 meters # Minimum depth: 1800.522424 meters looking forward 100.000000 meters along route # Maximum depth: 1807.357713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1750.522424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699660; longitude = -122.080795; duration = 200; initialDepth = 1754.113223; finalDepth = 1750.522424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5238260000001 # Actual altitude: 50.5238260000001 # Commanded vehicle depth: 1750.522424 # Seafloor depth: -1800.522424 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; 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 100.087350 meters # Minimum depth: 1804.113223 meters looking forward 100.000000 meters along route # Maximum depth: 1808.760490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1754.113223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699671; longitude = -122.081916; duration = 200; initialDepth = 1755.469393; finalDepth = 1754.113223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0212649999999 # Actual altitude: 50.0212649999999 # Commanded vehicle depth: 1754.113223 # Seafloor depth: -1804.134488 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.01; 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 27 # Segment length 100.087317 meters # Minimum depth: 1805.469393 meters looking forward 100.000000 meters along route # Maximum depth: 1816.820844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1755.469393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699682; longitude = -122.083036; duration = 200; initialDepth = 1759.042009; finalDepth = 1755.469393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6972429999998 # Actual altitude: 55.6972429999998 # Commanded vehicle depth: 1755.469393 # Seafloor depth: -1811.166636 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087282 meters # Minimum depth: 1809.042009 meters looking forward 100.000000 meters along route # Maximum depth: 1818.316340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1759.042009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699693; longitude = -122.084156; duration = 200; initialDepth = 1763.684656; finalDepth = 1759.042009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6972429999998 # Actual altitude: 55.6972429999998 # Commanded vehicle depth: 1759.042009 # Seafloor depth: -1809.042009 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087248 meters # Minimum depth: 1813.684656 meters looking forward 100.000000 meters along route # Maximum depth: 1818.647993 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1763.684656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699703; longitude = -122.085277; duration = 200; initialDepth = 1767.129288; finalDepth = 1763.684656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1763.684656 # Seafloor depth: -1813.684656 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.087214 meters # Minimum depth: 1817.129288 meters looking forward 100.000000 meters along route # Maximum depth: 1823.869331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1767.129288 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699714; longitude = -122.086397; duration = 200; initialDepth = 1769.677888; finalDepth = 1767.129288; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5620469999999 # Actual altitude: 55.5620469999999 # Commanded vehicle depth: 1767.129288 # Seafloor depth: -1822.691335 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087179 meters # Minimum depth: 1819.677888 meters looking forward 100.000000 meters along route # Maximum depth: 1826.023442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1769.677888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699725; longitude = -122.087517; duration = 200; initialDepth = 1775.029373; finalDepth = 1769.677888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5620469999999 # Actual altitude: 55.5620469999999 # Commanded vehicle depth: 1769.677888 # Seafloor depth: -1823.478316 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087146 meters # Minimum depth: 1825.029373 meters looking forward 100.000000 meters along route # Maximum depth: 1829.086123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1775.029373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699736; longitude = -122.088637; duration = 200; initialDepth = 1777.837952; finalDepth = 1775.029373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.800428 # Actual altitude: 53.800428 # Commanded vehicle depth: 1775.029373 # Seafloor depth: -1825.443919 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.087111 meters # Minimum depth: 1827.837952 meters looking forward 100.000000 meters along route # Maximum depth: 1838.120693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1777.837952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699747; longitude = -122.089758; duration = 200; initialDepth = 1780.794578; finalDepth = 1777.837952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.414546 # Actual altitude: 50.414546 # Commanded vehicle depth: 1777.837952 # Seafloor depth: -1827.837952 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.12; 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 100.087078 meters # Minimum depth: 1830.794578 meters looking forward 100.000000 meters along route # Maximum depth: 1835.879816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1780.794578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699758; longitude = -122.090878; duration = 200; initialDepth = 1785.138464; finalDepth = 1780.794578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1780.794578 # Seafloor depth: -1830.794578 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.087043 meters # Minimum depth: 1835.138464 meters looking forward 100.000000 meters along route # Maximum depth: 1854.338681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1785.138464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699768; longitude = -122.091998; duration = 200; initialDepth = 1789.435736; finalDepth = 1785.138464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0709109999998 # Actual altitude: 50.0709109999998 # Commanded vehicle depth: 1785.138464 # Seafloor depth: -1835.209375 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.02; 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 27 # Segment length 100.087010 meters # Minimum depth: 1839.435736 meters looking forward 100.000000 meters along route # Maximum depth: 1842.566686 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1789.435736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699779; longitude = -122.093119; duration = 200; initialDepth = 1793.583037; finalDepth = 1789.435736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2234920000001 # Actual altitude: 50.2234920000001 # Commanded vehicle depth: 1789.435736 # Seafloor depth: -1839.659228 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.07; 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 27 # Segment length 100.086975 meters # Minimum depth: 1843.583037 meters looking forward 100.000000 meters along route # Maximum depth: 1846.730759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1793.583037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699790; longitude = -122.094239; duration = 200; initialDepth = 1796.547951; finalDepth = 1793.583037; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.2234920000001 # Actual altitude: 50.2234920000001 # Commanded vehicle depth: 1793.583037 # Seafloor depth: -1843.583037 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.07; 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 27 # Segment length 100.086941 meters # Minimum depth: 1846.547951 meters looking forward 100.000000 meters along route # Maximum depth: 1854.221713 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1796.547951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699801; longitude = -122.095359; duration = 200; initialDepth = 1801.012878; finalDepth = 1796.547951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1796.547951 # Seafloor depth: -1846.547951 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 100.086908 meters # Minimum depth: 1851.012878 meters looking forward 100.000000 meters along route # Maximum depth: 1853.762753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1801.012878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699812; longitude = -122.096480; duration = 200; initialDepth = 1804.982208; finalDepth = 1801.012878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.7746340000001 # Actual altitude: 50.7746340000001 # Commanded vehicle depth: 1801.012878 # Seafloor depth: -1851.787512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.23; 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 27 # Segment length 100.086874 meters # Minimum depth: 1854.982208 meters looking forward 100.000000 meters along route # Maximum depth: 1860.727592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1804.982208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699822; longitude = -122.097600; duration = 200; initialDepth = 1808.211809; finalDepth = 1804.982208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6883500000001 # Actual altitude: 52.6883500000001 # Commanded vehicle depth: 1804.982208 # Seafloor depth: -1857.670558 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.81; 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 27 # Segment length 100.086839 meters # Minimum depth: 1858.211809 meters looking forward 100.000000 meters along route # Maximum depth: 1864.087897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1808.211809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699833; longitude = -122.098720; duration = 200; initialDepth = 1810.029417; finalDepth = 1808.211809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6883500000001 # Actual altitude: 52.6883500000001 # Commanded vehicle depth: 1808.211809 # Seafloor depth: -1858.892482 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.81; 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 27 # Segment length 100.086806 meters # Minimum depth: 1860.029417 meters looking forward 100.000000 meters along route # Maximum depth: 1864.968109 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1810.029417 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699844; longitude = -122.099841; duration = 200; initialDepth = 1812.727190; finalDepth = 1810.029417; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0813720000001 # Actual altitude: 51.0813720000001 # Commanded vehicle depth: 1810.029417 # Seafloor depth: -1861.110789 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 100.086772 meters # Minimum depth: 1862.727190 meters looking forward 100.000000 meters along route # Maximum depth: 1867.972073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1812.727190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699855; longitude = -122.100961; duration = 200; initialDepth = 1816.609849; finalDepth = 1812.727190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9564969999999 # Actual altitude: 52.9564969999999 # Commanded vehicle depth: 1812.72719 # Seafloor depth: -1865.683687 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 27 # Segment length 106.112186 meters # Minimum depth: 1866.609849 meters looking forward 100.000000 meters along route # Maximum depth: 1876.997251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1816.609849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699866; longitude = -122.102081; duration = 212; initialDepth = 1818.943451; finalDepth = 1816.609849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.9564969999999 # Actual altitude: 52.9564969999999 # Commanded vehicle depth: 1816.609849 # Seafloor depth: -1869.519371 # 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 = 25; 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; } # ####################################################### # # 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 149.996649 meters # Minimum depth: 1868.943451 meters looking forward 100.000000 meters along route # Maximum depth: 1877.668484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1818.943451 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699877; longitude = -122.103269; duration = 299; # abortOnTimeout = True; initialDepth = 1818.935629; finalDepth = 1818.943451; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.9095220000002 # Actual altitude: 52.9095220000002 # Commanded vehicle depth: 1818.943451 # Seafloor depth: -1868.943451 # 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 = 25; 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; } # ####################################################### # # 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 167.953947 meters # Minimum depth: 1868.935629 meters looking forward 100.000000 meters along route # Maximum depth: 1875.768158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1818.935629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698525; longitude = -122.103289; duration = 335; # abortOnTimeout = True; initialDepth = 1816.680502; finalDepth = 1818.935629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.832529 # Actual altitude: 56.832529 # Commanded vehicle depth: 1818.935629 # Seafloor depth: -1875.768158 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088546 meters # Minimum depth: 1866.680502 meters looking forward 100.000000 meters along route # Maximum depth: 1872.997033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1816.680502 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698507; longitude = -122.101409; duration = 200; initialDepth = 1812.813434; finalDepth = 1816.680502; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.832529 # Actual altitude: 56.832529 # Commanded vehicle depth: 1816.680502 # Seafloor depth: -1868.314622 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088580 meters # Minimum depth: 1862.813434 meters looking forward 100.000000 meters along route # Maximum depth: 1873.018872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1812.813434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698496; longitude = -122.100289; duration = 200; initialDepth = 1807.324498; finalDepth = 1812.813434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.733923 # Actual altitude: 52.733923 # Commanded vehicle depth: 1812.813434 # Seafloor depth: -1865.547357 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088613 meters # Minimum depth: 1857.324498 meters looking forward 100.000000 meters along route # Maximum depth: 1863.736177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1807.324498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698485; longitude = -122.099168; duration = 200; initialDepth = 1802.843603; finalDepth = 1807.324498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1953120000001 # Actual altitude: 53.1953120000001 # Commanded vehicle depth: 1807.324498 # Seafloor depth: -1860.519810 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088648 meters # Minimum depth: 1852.843603 meters looking forward 100.000000 meters along route # Maximum depth: 1861.842074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1802.843603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698474; longitude = -122.098048; duration = 200; initialDepth = 1801.344323; finalDepth = 1802.843603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.729873 # Actual altitude: 55.729873 # Commanded vehicle depth: 1802.843603 # Seafloor depth: -1858.573476 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088681 meters # Minimum depth: 1851.344323 meters looking forward 100.000000 meters along route # Maximum depth: 1861.933186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1801.344323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698464; longitude = -122.096928; duration = 200; initialDepth = 1792.955243; finalDepth = 1801.344323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9232050000001 # Actual altitude: 57.9232050000001 # Commanded vehicle depth: 1801.344323 # Seafloor depth: -1859.267528 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088715 meters # Minimum depth: 1842.955243 meters looking forward 100.000000 meters along route # Maximum depth: 1850.711794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1792.955243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698453; longitude = -122.095807; duration = 200; initialDepth = 1791.339867; finalDepth = 1792.955243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9232050000001 # Actual altitude: 57.9232050000001 # Commanded vehicle depth: 1792.955243 # Seafloor depth: -1850.200212 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088750 meters # Minimum depth: 1841.339867 meters looking forward 100.000000 meters along route # Maximum depth: 1846.087609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1791.339867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698442; longitude = -122.094687; duration = 200; initialDepth = 1785.150600; finalDepth = 1791.339867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2449689999999 # Actual altitude: 57.2449689999999 # Commanded vehicle depth: 1791.339867 # Seafloor depth: -1843.515761 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.17; 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 25 # Segment length 100.088783 meters # Minimum depth: 1835.150600 meters looking forward 100.000000 meters along route # Maximum depth: 1841.825255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1785.150600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698431; longitude = -122.093567; duration = 200; initialDepth = 1770.518953; finalDepth = 1785.150600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3412760000001 # Actual altitude: 56.3412760000001 # Commanded vehicle depth: 1785.1506 # Seafloor depth: -1841.491876 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088817 meters # Minimum depth: 1820.518953 meters looking forward 100.000000 meters along route # Maximum depth: 1839.187117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1770.518953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698420; longitude = -122.092447; duration = 200; initialDepth = 1770.530280; finalDepth = 1770.518953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.7087369999999 # Actual altitude: 64.7087369999999 # Commanded vehicle depth: 1770.518953 # Seafloor depth: -1835.227690 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.41; 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 25 # Segment length 100.088851 meters # Minimum depth: 1820.530280 meters looking forward 100.000000 meters along route # Maximum depth: 1830.901601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1770.530280 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698410; longitude = -122.091326; duration = 200; initialDepth = 1767.153573; finalDepth = 1770.530280; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.7087369999999 # Actual altitude: 64.7087369999999 # Commanded vehicle depth: 1770.53028 # Seafloor depth: -1830.051139 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.41; 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 25 # Segment length 100.088886 meters # Minimum depth: 1817.153573 meters looking forward 100.000000 meters along route # Maximum depth: 1827.955506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1767.153573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698399; longitude = -122.090206; duration = 200; initialDepth = 1761.483650; finalDepth = 1767.153573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.520859 # Actual altitude: 59.520859 # Commanded vehicle depth: 1767.153573 # Seafloor depth: -1817.153573 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.088919 meters # Minimum depth: 1811.483650 meters looking forward 100.000000 meters along route # Maximum depth: 1825.663238 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1761.483650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698388; longitude = -122.089086; duration = 200; initialDepth = 1758.137450; finalDepth = 1761.483650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4554460000002 # Actual altitude: 58.4554460000002 # Commanded vehicle depth: 1761.48365 # Seafloor depth: -1819.939096 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.088954 meters # Minimum depth: 1808.137450 meters looking forward 100.000000 meters along route # Maximum depth: 1821.935896 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1758.137450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698377; longitude = -122.087965; duration = 200; initialDepth = 1762.772818; finalDepth = 1758.137450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.4554460000002 # Actual altitude: 58.4554460000002 # Commanded vehicle depth: 1758.13745 # Seafloor depth: -1808.137450 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 100.088988 meters # Minimum depth: 1812.772818 meters looking forward 100.000000 meters along route # Maximum depth: 1818.536706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1762.772818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698366; longitude = -122.086845; duration = 200; initialDepth = 1761.847304; finalDepth = 1762.772818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7638880000002 # Actual altitude: 55.7638880000002 # Commanded vehicle depth: 1762.772818 # Seafloor depth: -1818.536706 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.089022 meters # Minimum depth: 1811.847304 meters looking forward 100.000000 meters along route # Maximum depth: 1817.733350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1761.847304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698356; longitude = -122.085725; duration = 200; initialDepth = 1757.887653; finalDepth = 1761.847304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7638880000002 # Actual altitude: 55.7638880000002 # Commanded vehicle depth: 1761.847304 # Seafloor depth: -1815.607196 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.089056 meters # Minimum depth: 1807.887653 meters looking forward 100.000000 meters along route # Maximum depth: 1818.210509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1757.887653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698345; longitude = -122.084604; duration = 200; initialDepth = 1755.337123; finalDepth = 1757.887653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8430519999999 # Actual altitude: 55.8430519999999 # Commanded vehicle depth: 1757.887653 # Seafloor depth: -1813.730705 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 100.089090 meters # Minimum depth: 1805.337123 meters looking forward 100.000000 meters along route # Maximum depth: 1811.147380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1755.337123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698334; longitude = -122.083484; duration = 200; initialDepth = 1750.926428; finalDepth = 1755.337123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.8430519999999 # Actual altitude: 55.8430519999999 # Commanded vehicle depth: 1755.337123 # Seafloor depth: -1805.337123 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 100.089125 meters # Minimum depth: 1800.926428 meters looking forward 100.000000 meters along route # Maximum depth: 1809.620594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1750.926428 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698323; longitude = -122.082364; duration = 200; initialDepth = 1748.638358; finalDepth = 1750.926428; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.496222 # Actual altitude: 54.496222 # Commanded vehicle depth: 1750.926428 # Seafloor depth: -1805.422650 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.089159 meters # Minimum depth: 1798.638358 meters looking forward 100.000000 meters along route # Maximum depth: 1803.565966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1748.638358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698312; longitude = -122.081243; duration = 200; initialDepth = 1747.334478; finalDepth = 1748.638358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.927608 # Actual altitude: 54.927608 # Commanded vehicle depth: 1748.638358 # Seafloor depth: -1803.565966 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.48; 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 100.089193 meters # Minimum depth: 1797.334478 meters looking forward 100.000000 meters along route # Maximum depth: 1799.707504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1747.334478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698302; longitude = -122.080123; duration = 200; initialDepth = 1741.358347; finalDepth = 1747.334478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.927608 # Actual altitude: 54.927608 # Commanded vehicle depth: 1747.334478 # Seafloor depth: -1799.707504 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.48; 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 100.089228 meters # Minimum depth: 1791.358347 meters looking forward 100.000000 meters along route # Maximum depth: 1797.058543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1741.358347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698291; longitude = -122.079003; duration = 200; initialDepth = 1739.610797; finalDepth = 1741.358347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6725469999999 # Actual altitude: 55.6725469999999 # Commanded vehicle depth: 1741.358347 # Seafloor depth: -1797.030894 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.089261 meters # Minimum depth: 1789.610797 meters looking forward 100.000000 meters along route # Maximum depth: 1791.715806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1739.610797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698280; longitude = -122.077882; duration = 200; initialDepth = 1734.472815; finalDepth = 1739.610797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6725469999999 # Actual altitude: 55.6725469999999 # Commanded vehicle depth: 1739.610797 # Seafloor depth: -1791.715806 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.089297 meters # Minimum depth: 1784.472815 meters looking forward 100.000000 meters along route # Maximum depth: 1790.633363 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1734.472815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698269; longitude = -122.076762; duration = 200; initialDepth = 1728.066766; finalDepth = 1734.472815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.872625 # Actual altitude: 53.872625 # Commanded vehicle depth: 1734.472815 # Seafloor depth: -1788.345440 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.089330 meters # Minimum depth: 1778.066766 meters looking forward 100.000000 meters along route # Maximum depth: 1788.603482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1728.066766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698258; longitude = -122.075642; duration = 200; initialDepth = 1722.838521; finalDepth = 1728.066766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9512080000002 # Actual altitude: 57.9512080000002 # Commanded vehicle depth: 1728.066766 # Seafloor depth: -1786.017974 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 100.089365 meters # Minimum depth: 1772.838521 meters looking forward 100.000000 meters along route # Maximum depth: 1778.580520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1722.838521 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698248; longitude = -122.074521; duration = 200; initialDepth = 1717.235895; finalDepth = 1722.838521; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.9512080000002 # Actual altitude: 57.9512080000002 # Commanded vehicle depth: 1722.838521 # Seafloor depth: -1777.492159 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 25 # Segment length 108.832298 meters # Minimum depth: 1767.235895 meters looking forward 100.000000 meters along route # Maximum depth: 1774.684575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1717.235895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698237; longitude = -122.073401; duration = 217; initialDepth = 1712.629341; finalDepth = 1717.235895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.653638 # Actual altitude: 54.653638 # Commanded vehicle depth: 1717.235895 # Seafloor depth: -1771.486404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.40; 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 to get to end of line 24 # Segment length 151.451010 meters # Minimum depth: 1762.629341 meters looking forward 100.000000 meters along route # Maximum depth: 1768.046722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1712.629341 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698225; longitude = -122.072183; duration = 302; # abortOnTimeout = True; initialDepth = 1708.569464; finalDepth = 1712.629341; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.417381 # Actual altitude: 55.417381 # Commanded vehicle depth: 1712.629341 # Seafloor depth: -1768.046722 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; 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 24 # Segment length 100.123096 meters # Minimum depth: 1758.569464 meters looking forward 100.000000 meters along route # Maximum depth: 1765.901087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1708.569464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698186; longitude = -122.070488; duration = 200; initialDepth = 1704.270267; finalDepth = 1708.569464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.331623 # Actual altitude: 57.331623 # Commanded vehicle depth: 1708.569464 # Seafloor depth: -1765.901087 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.123149 meters # Minimum depth: 1754.270267 meters looking forward 100.000000 meters along route # Maximum depth: 1758.761263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1704.270267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698160; longitude = -122.069368; duration = 200; initialDepth = 1698.860159; finalDepth = 1704.270267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.331623 # Actual altitude: 57.331623 # Commanded vehicle depth: 1704.270267 # Seafloor depth: -1754.879173 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.123203 meters # Minimum depth: 1748.860159 meters looking forward 100.000000 meters along route # Maximum depth: 1755.855920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1698.860159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698135; longitude = -122.068248; duration = 200; initialDepth = 1692.433617; finalDepth = 1698.860159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.926091 # Actual altitude: 54.926091 # Commanded vehicle depth: 1698.860159 # Seafloor depth: -1753.786250 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.48; 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 24 # Segment length 100.123257 meters # Minimum depth: 1742.433617 meters looking forward 100.000000 meters along route # Maximum depth: 1751.162405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1692.433617 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698109; longitude = -122.067127; duration = 200; initialDepth = 1687.360754; finalDepth = 1692.433617; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5526380000001 # Actual altitude: 57.5526380000001 # Commanded vehicle depth: 1692.433617 # Seafloor depth: -1749.986255 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.123311 meters # Minimum depth: 1737.360754 meters looking forward 100.000000 meters along route # Maximum depth: 1741.730849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1687.360754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698083; longitude = -122.066007; duration = 200; initialDepth = 1675.220445; finalDepth = 1687.360754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5526380000001 # Actual altitude: 57.5526380000001 # Commanded vehicle depth: 1687.360754 # Seafloor depth: -1741.730849 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.123366 meters # Minimum depth: 1725.220445 meters looking forward 100.000000 meters along route # Maximum depth: 1739.551083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1675.220445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698057; longitude = -122.064887; duration = 200; initialDepth = 1677.483862; finalDepth = 1675.220445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.229863 # Actual altitude: 63.229863 # Commanded vehicle depth: 1675.220445 # Seafloor depth: -1738.450308 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.123419 meters # Minimum depth: 1727.483862 meters looking forward 100.000000 meters along route # Maximum depth: 1732.913624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1677.483862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698032; longitude = -122.063766; duration = 200; initialDepth = 1673.200469; finalDepth = 1677.483862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.229863 # Actual altitude: 63.229863 # Commanded vehicle depth: 1677.483862 # Seafloor depth: -1732.913624 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.123473 meters # Minimum depth: 1723.200469 meters looking forward 100.000000 meters along route # Maximum depth: 1727.729483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1673.200469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698006; longitude = -122.062646; duration = 200; initialDepth = 1670.057011; finalDepth = 1673.200469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.429762 # Actual altitude: 55.429762 # Commanded vehicle depth: 1673.200469 # Seafloor depth: -1727.729483 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; 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 24 # Segment length 100.123527 meters # Minimum depth: 1720.057011 meters looking forward 100.000000 meters along route # Maximum depth: 1723.606955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1670.057011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697980; longitude = -122.061526; duration = 200; initialDepth = 1664.140847; finalDepth = 1670.057011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.529014 # Actual altitude: 54.529014 # Commanded vehicle depth: 1670.057011 # Seafloor depth: -1722.655101 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.36; 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 24 # Segment length 100.123582 meters # Minimum depth: 1714.140847 meters looking forward 100.000000 meters along route # Maximum depth: 1719.641151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1664.140847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697954; longitude = -122.060406; duration = 200; initialDepth = 1649.107879; finalDepth = 1664.140847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.5003040000001 # Actual altitude: 55.5003040000001 # Commanded vehicle depth: 1664.140847 # Seafloor depth: -1719.641151 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.123635 meters # Minimum depth: 1699.107879 meters looking forward 100.000000 meters along route # Maximum depth: 1715.672727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1649.107879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697929; longitude = -122.059285; duration = 200; initialDepth = 1633.445200; finalDepth = 1649.107879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.418363 # Actual altitude: 66.418363 # Commanded vehicle depth: 1649.107879 # Seafloor depth: -1715.526242 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.123690 meters # Minimum depth: 1683.445200 meters looking forward 100.000000 meters along route # Maximum depth: 1696.978169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1633.445200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697903; longitude = -122.058165; duration = 200; initialDepth = 1624.820942; finalDepth = 1633.445200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.418363 # Actual altitude: 66.418363 # Commanded vehicle depth: 1633.4452 # Seafloor depth: -1696.978169 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.123743 meters # Minimum depth: 1674.820942 meters looking forward 100.000000 meters along route # Maximum depth: 1682.941613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1624.820942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697877; longitude = -122.057045; duration = 200; initialDepth = 1618.019640; finalDepth = 1624.820942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5329689999999 # Actual altitude: 63.5329689999999 # Commanded vehicle depth: 1624.820942 # Seafloor depth: -1682.941613 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.06; 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 24 # Segment length 100.123798 meters # Minimum depth: 1668.019640 meters looking forward 100.000000 meters along route # Maximum depth: 1673.036605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1618.019640 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697851; longitude = -122.055924; duration = 200; initialDepth = 1601.926068; finalDepth = 1618.019640; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1206709999999 # Actual altitude: 58.1206709999999 # Commanded vehicle depth: 1618.01964 # Seafloor depth: -1671.889233 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.123853 meters # Minimum depth: 1651.926068 meters looking forward 100.000000 meters along route # Maximum depth: 1668.608683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1601.926068 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697826; longitude = -122.054804; duration = 200; initialDepth = 1593.265800; finalDepth = 1601.926068; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6826149999999 # Actual altitude: 66.6826149999999 # Commanded vehicle depth: 1601.926068 # Seafloor depth: -1668.608683 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 24 # Segment length 100.123906 meters # Minimum depth: 1643.265800 meters looking forward 100.000000 meters along route # Maximum depth: 1654.537622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1593.265800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697800; longitude = -122.053684; duration = 200; initialDepth = 1578.433322; finalDepth = 1593.265800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6826149999999 # Actual altitude: 66.6826149999999 # Commanded vehicle depth: 1593.2658 # Seafloor depth: -1647.380156 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.00; 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 24 # Segment length 100.123961 meters # Minimum depth: 1628.433322 meters looking forward 100.000000 meters along route # Maximum depth: 1639.188885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1578.433322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697774; longitude = -122.052563; duration = 200; initialDepth = 1574.025361; finalDepth = 1578.433322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0208189999998 # Actual altitude: 57.0208189999998 # Commanded vehicle depth: 1578.433322 # Seafloor depth: -1635.454141 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.11; 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 24 # Segment length 100.124015 meters # Minimum depth: 1624.025361 meters looking forward 100.000000 meters along route # Maximum depth: 1632.145721 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1574.025361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697748; longitude = -122.051443; duration = 200; initialDepth = 1569.355681; finalDepth = 1574.025361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1203600000001 # Actual altitude: 58.1203600000001 # Commanded vehicle depth: 1574.025361 # Seafloor depth: -1632.145721 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124069 meters # Minimum depth: 1619.355681 meters looking forward 100.000000 meters along route # Maximum depth: 1627.635653 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1569.355681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697723; longitude = -122.050323; duration = 200; initialDepth = 1555.685393; finalDepth = 1569.355681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1203600000001 # Actual altitude: 58.1203600000001 # Commanded vehicle depth: 1569.355681 # Seafloor depth: -1626.454211 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124124 meters # Minimum depth: 1605.685393 meters looking forward 100.000000 meters along route # Maximum depth: 1618.829636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1555.685393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697697; longitude = -122.049202; duration = 200; initialDepth = 1540.994649; finalDepth = 1555.685393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.144243 # Actual altitude: 63.144243 # Commanded vehicle depth: 1555.685393 # Seafloor depth: -1618.829636 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.94; 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 24 # Segment length 100.124178 meters # Minimum depth: 1590.994649 meters looking forward 100.000000 meters along route # Maximum depth: 1605.155824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1540.994649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697671; longitude = -122.048082; duration = 200; initialDepth = 1542.165244; finalDepth = 1540.994649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.161175 # Actual altitude: 64.161175 # Commanded vehicle depth: 1540.994649 # Seafloor depth: -1605.155824 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.25; 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 24 # Segment length 100.124232 meters # Minimum depth: 1592.165244 meters looking forward 100.000000 meters along route # Maximum depth: 1595.822448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1542.165244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697645; longitude = -122.046962; duration = 200; initialDepth = 1540.802035; finalDepth = 1542.165244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.161175 # Actual altitude: 64.161175 # Commanded vehicle depth: 1542.165244 # Seafloor depth: -1592.703881 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.25; 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 24 # Segment length 100.124287 meters # Minimum depth: 1590.802035 meters looking forward 100.000000 meters along route # Maximum depth: 1602.502169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1540.802035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697620; longitude = -122.045841; duration = 200; initialDepth = 1545.215144; finalDepth = 1540.802035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.5386369999999 # Actual altitude: 50.5386369999999 # Commanded vehicle depth: 1540.802035 # Seafloor depth: -1590.802035 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; 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 24 # Segment length 100.124341 meters # Minimum depth: 1595.215144 meters looking forward 100.000000 meters along route # Maximum depth: 1603.647514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1545.215144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697594; longitude = -122.044721; duration = 200; initialDepth = 1544.299982; finalDepth = 1545.215144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.43237 # Actual altitude: 58.43237 # Commanded vehicle depth: 1545.215144 # Seafloor depth: -1603.647514 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124396 meters # Minimum depth: 1594.299982 meters looking forward 100.000000 meters along route # Maximum depth: 1616.966741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1544.299982 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697568; longitude = -122.043601; duration = 200; initialDepth = 1549.372878; finalDepth = 1544.299982; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.43237 # Actual altitude: 58.43237 # Commanded vehicle depth: 1544.299982 # Seafloor depth: -1597.146165 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124450 meters # Minimum depth: 1599.372878 meters looking forward 100.000000 meters along route # Maximum depth: 1612.240038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1549.372878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697542; longitude = -122.042480; duration = 200; initialDepth = 1549.965429; finalDepth = 1549.372878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8461830000001 # Actual altitude: 52.8461830000001 # Commanded vehicle depth: 1549.372878 # Seafloor depth: -1599.372878 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124505 meters # Minimum depth: 1599.965429 meters looking forward 100.000000 meters along route # Maximum depth: 1612.121639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1549.965429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697517; longitude = -122.041360; duration = 200; initialDepth = 1553.186430; finalDepth = 1549.965429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1844879999999 # Actual altitude: 60.1844879999999 # Commanded vehicle depth: 1549.965429 # Seafloor depth: -1610.149917 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124559 meters # Minimum depth: 1603.186430 meters looking forward 100.000000 meters along route # Maximum depth: 1615.127740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1553.186430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697491; longitude = -122.040240; duration = 200; initialDepth = 1557.469093; finalDepth = 1553.186430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1844879999999 # Actual altitude: 60.1844879999999 # Commanded vehicle depth: 1553.18643 # Seafloor depth: -1603.909803 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124614 meters # Minimum depth: 1607.469093 meters looking forward 100.000000 meters along route # Maximum depth: 1612.784224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1557.469093 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697465; longitude = -122.039120; duration = 200; initialDepth = 1551.557698; finalDepth = 1557.469093; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.284097 # Actual altitude: 51.284097 # Commanded vehicle depth: 1557.469093 # Seafloor depth: -1608.753190 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.39; 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 24 # Segment length 100.124668 meters # Minimum depth: 1601.557698 meters looking forward 100.000000 meters along route # Maximum depth: 1611.512255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1551.557698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697439; longitude = -122.037999; duration = 200; initialDepth = 1546.529277; finalDepth = 1551.557698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.954557 # Actual altitude: 59.954557 # Commanded vehicle depth: 1551.557698 # Seafloor depth: -1611.512255 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124724 meters # Minimum depth: 1596.529277 meters looking forward 100.000000 meters along route # Maximum depth: 1606.080746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1546.529277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697414; longitude = -122.036879; duration = 200; initialDepth = 1544.210530; finalDepth = 1546.529277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.954557 # Actual altitude: 59.954557 # Commanded vehicle depth: 1546.529277 # Seafloor depth: -1602.991125 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 100.124777 meters # Minimum depth: 1594.210530 meters looking forward 100.000000 meters along route # Maximum depth: 1601.204797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1544.210530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697388; longitude = -122.035759; duration = 200; initialDepth = 1536.341459; finalDepth = 1544.210530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4618479999999 # Actual altitude: 56.4618479999999 # Commanded vehicle depth: 1544.21053 # Seafloor depth: -1598.850436 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.124833 meters # Minimum depth: 1586.341459 meters looking forward 100.000000 meters along route # Maximum depth: 1593.877555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1536.341459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697362; longitude = -122.034638; duration = 200; initialDepth = 1535.865408; finalDepth = 1536.341459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.536096 # Actual altitude: 57.536096 # Commanded vehicle depth: 1536.341459 # Seafloor depth: -1593.877555 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 24 # Segment length 106.796202 meters # Minimum depth: 1585.865408 meters looking forward 100.000000 meters along route # Maximum depth: 1589.374170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1535.865408 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697336; longitude = -122.033518; duration = 213; initialDepth = 1532.249062; finalDepth = 1535.865408; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.536096 # Actual altitude: 57.536096 # Commanded vehicle depth: 1535.865408 # Seafloor depth: -1588.350037 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 23 # Segment length 143.610780 meters # Minimum depth: 1582.249062 meters looking forward 100.000000 meters along route # Maximum depth: 1586.243347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1532.249062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697309; longitude = -122.032323; duration = 287; # abortOnTimeout = True; initialDepth = 1528.963760; finalDepth = 1532.249062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.994285 # Actual altitude: 53.994285 # Commanded vehicle depth: 1532.249062 # Seafloor depth: -1586.243347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 23 # Segment length 104.698064 meters # Minimum depth: 1578.963760 meters looking forward 100.000000 meters along route # Maximum depth: 1584.718066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1528.963760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697970; longitude = -122.030941; duration = 209; initialDepth = 1523.502670; finalDepth = 1528.963760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7543059999998 # Actual altitude: 55.7543059999998 # Commanded vehicle depth: 1528.96376 # Seafloor depth: -1584.718066 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 23 # Segment length 104.752712 meters # Minimum depth: 1573.502670 meters looking forward 100.000000 meters along route # Maximum depth: 1579.578472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1523.502670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698452; longitude = -122.029933; duration = 209; initialDepth = 1520.387915; finalDepth = 1523.502670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0758019999998 # Actual altitude: 56.0758019999998 # Commanded vehicle depth: 1523.50267 # Seafloor depth: -1579.578472 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 104.752250 meters # Minimum depth: 1570.387915 meters looking forward 100.000000 meters along route # Maximum depth: 1575.581323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1520.387915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698934; longitude = -122.028925; duration = 209; initialDepth = 1508.709919; finalDepth = 1520.387915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0758019999998 # Actual altitude: 56.0758019999998 # Commanded vehicle depth: 1520.387915 # Seafloor depth: -1575.581323 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 104.751789 meters # Minimum depth: 1558.709919 meters looking forward 100.000000 meters along route # Maximum depth: 1570.277072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1508.709919 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699416; longitude = -122.027916; duration = 209; initialDepth = 1499.084610; finalDepth = 1508.709919; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5671530000002 # Actual altitude: 61.5671530000002 # Commanded vehicle depth: 1508.709919 # Seafloor depth: -1570.277072 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.47; 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 23 # Segment length 104.751328 meters # Minimum depth: 1549.084610 meters looking forward 100.000000 meters along route # Maximum depth: 1557.629770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1499.084610 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699898; longitude = -122.026908; duration = 209; initialDepth = 1482.499234; finalDepth = 1499.084610; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5671530000002 # Actual altitude: 61.5671530000002 # Commanded vehicle depth: 1499.08461 # Seafloor depth: -1557.629770 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.47; 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 23 # Segment length 104.750867 meters # Minimum depth: 1532.499234 meters looking forward 100.000000 meters along route # Maximum depth: 1548.470543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1482.499234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700380; longitude = -122.025900; duration = 209; initialDepth = 1471.115844; finalDepth = 1482.499234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2085240000001 # Actual altitude: 64.2085240000001 # Commanded vehicle depth: 1482.499234 # Seafloor depth: -1546.707758 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 23 # Segment length 104.750405 meters # Minimum depth: 1521.115844 meters looking forward 100.000000 meters along route # Maximum depth: 1532.181250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1471.115844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700862; longitude = -122.024892; duration = 209; initialDepth = 1474.512518; finalDepth = 1471.115844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.2085240000001 # Actual altitude: 64.2085240000001 # Commanded vehicle depth: 1471.115844 # Seafloor depth: -1532.181250 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 23 # Segment length 108.932268 meters # Minimum depth: 1524.512518 meters looking forward 100.000000 meters along route # Maximum depth: 1527.689510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1474.512518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701344; longitude = -122.023883; duration = 217; initialDepth = 1463.960781; finalDepth = 1474.512518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0654060000002 # Actual altitude: 61.0654060000002 # Commanded vehicle depth: 1474.512518 # Seafloor depth: -1524.617621 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.32; 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 104.482256 meters # Minimum depth: 1513.960781 meters looking forward 100.000000 meters along route # Maximum depth: 1523.374453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1463.960781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701845; longitude = -122.022835; duration = 208; initialDepth = 1464.160662; finalDepth = 1463.960781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.4136719999999 # Actual altitude: 59.4136719999999 # Commanded vehicle depth: 1463.960781 # Seafloor depth: -1523.374453 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 22 # Segment length 153.431351 meters # Minimum depth: 1514.160662 meters looking forward 100.000000 meters along route # Maximum depth: 1519.862921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1464.160662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702326; longitude = -122.021829; duration = 306; # abortOnTimeout = True; initialDepth = 1463.419006; finalDepth = 1464.160662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4136719999999 # Actual altitude: 59.4136719999999 # Commanded vehicle depth: 1464.160662 # Seafloor depth: -1514.961945 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 22 # Segment length 105.224739 meters # Minimum depth: 1513.419006 meters looking forward 100.000000 meters along route # Maximum depth: 1517.264179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1463.419006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703377; longitude = -122.020713; duration = 210; initialDepth = 1461.490242; finalDepth = 1463.419006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7295159999999 # Actual altitude: 52.7295159999999 # Commanded vehicle depth: 1463.419006 # Seafloor depth: -1516.148522 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 22 # Segment length 105.812308 meters # Minimum depth: 1511.490242 meters looking forward 100.000000 meters along route # Maximum depth: 1521.492848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1461.490242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704098; longitude = -122.019948; duration = 211; initialDepth = 1454.041680; finalDepth = 1461.490242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7295159999999 # Actual altitude: 52.7295159999999 # Commanded vehicle depth: 1461.490242 # Seafloor depth: -1513.496347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 22 # Segment length 107.813504 meters # Minimum depth: 1504.041680 meters looking forward 100.000000 meters along route # Maximum depth: 1514.485980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1454.041680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704823; longitude = -122.019178; duration = 215; initialDepth = 1456.926992; finalDepth = 1454.041680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8604519999999 # Actual altitude: 59.8604519999999 # Commanded vehicle depth: 1454.04168 # Seafloor depth: -1513.902132 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 22 # Segment length 102.046053 meters # Minimum depth: 1506.926992 meters looking forward 100.000000 meters along route # Maximum depth: 1510.669925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1456.926992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705562; longitude = -122.018394; duration = 204; initialDepth = 1450.359312; finalDepth = 1456.926992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8604519999999 # Actual altitude: 59.8604519999999 # Commanded vehicle depth: 1456.926992 # Seafloor depth: -1510.119321 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 22 # Segment length 105.223171 meters # Minimum depth: 1500.359312 meters looking forward 100.000000 meters along route # Maximum depth: 1506.534082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1450.359312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706261; longitude = -122.017651; duration = 210; initialDepth = 1436.243168; finalDepth = 1450.359312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1747699999999 # Actual altitude: 56.1747699999999 # Commanded vehicle depth: 1450.359312 # Seafloor depth: -1506.534082 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.85; 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 22 # Segment length 105.222778 meters # Minimum depth: 1486.243168 meters looking forward 100.000000 meters along route # Maximum depth: 1499.254512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1436.243168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706982; longitude = -122.016886; duration = 210; initialDepth = 1422.265507; finalDepth = 1436.243168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.011344 # Actual altitude: 63.011344 # Commanded vehicle depth: 1436.243168 # Seafloor depth: -1499.254512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.90; 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 22 # Segment length 105.222386 meters # Minimum depth: 1472.265507 meters looking forward 100.000000 meters along route # Maximum depth: 1485.531341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1422.265507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707703; longitude = -122.016121; duration = 210; initialDepth = 1409.146343; finalDepth = 1422.265507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.265834 # Actual altitude: 63.265834 # Commanded vehicle depth: 1422.265507 # Seafloor depth: -1485.531341 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.98; 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 22 # Segment length 100.808974 meters # Minimum depth: 1459.146343 meters looking forward 100.000000 meters along route # Maximum depth: 1472.690380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1409.146343 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708424; longitude = -122.015355; duration = 201; initialDepth = 1398.318785; finalDepth = 1409.146343; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.5440370000001 # Actual altitude: 63.5440370000001 # Commanded vehicle depth: 1409.146343 # Seafloor depth: -1472.690380 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.06; 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 to get to end of line 21 # Segment length 114.209185 meters # Minimum depth: 1448.318785 meters looking forward 100.000000 meters along route # Maximum depth: 1458.937103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1398.318785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709115; longitude = -122.014622; duration = 228; # abortOnTimeout = True; initialDepth = 1394.484927; finalDepth = 1398.318785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.5440370000001 # Actual altitude: 63.5440370000001 # Commanded vehicle depth: 1398.318785 # Seafloor depth: -1458.937103 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.06; 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 100.753359 meters # Minimum depth: 1444.484927 meters looking forward 100.000000 meters along route # Maximum depth: 1447.820765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1394.484927 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710137; longitude = -122.014464; duration = 201; initialDepth = 1395.787818; finalDepth = 1394.484927; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.618318 # Actual altitude: 60.618318 # Commanded vehicle depth: 1394.484927 # Seafloor depth: -1447.820765 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 21 # Segment length 100.753358 meters # Minimum depth: 1445.787818 meters looking forward 100.000000 meters along route # Maximum depth: 1465.587674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1395.787818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711038; longitude = -122.014325; duration = 201; initialDepth = 1414.790309; finalDepth = 1395.787818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.335838 # Actual altitude: 53.335838 # Commanded vehicle depth: 1395.787818 # Seafloor depth: -1445.787818 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 21 # Segment length 100.753358 meters # Minimum depth: 1464.790309 meters looking forward 100.000000 meters along route # Maximum depth: 1471.999951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1414.790309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711939; longitude = -122.014186; duration = 201; initialDepth = 1409.564999; finalDepth = 1414.790309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.1224400000001 # Actual altitude: 50.1224400000001 # Commanded vehicle depth: 1414.790309 # Seafloor depth: -1464.912749 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.04; 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 21 # Segment length 100.753358 meters # Minimum depth: 1459.564999 meters looking forward 100.000000 meters along route # Maximum depth: 1469.012300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1409.564999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712840; longitude = -122.014046; duration = 201; initialDepth = 1402.547079; finalDepth = 1409.564999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4473010000002 # Actual altitude: 59.4473010000002 # Commanded vehicle depth: 1409.564999 # Seafloor depth: -1469.012300 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 21 # Segment length 104.128594 meters # Minimum depth: 1452.547079 meters looking forward 100.000000 meters along route # Maximum depth: 1459.290550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1402.547079 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713742; longitude = -122.013907; duration = 208; initialDepth = 1397.237664; finalDepth = 1402.547079; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.4473010000002 # Actual altitude: 59.4473010000002 # Commanded vehicle depth: 1402.547079 # Seafloor depth: -1459.290550 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 20 # Segment length 126.721717 meters # Minimum depth: 1447.237664 meters looking forward 100.000000 meters along route # Maximum depth: 1454.207788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1397.237664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714673; longitude = -122.013763; duration = 253; # abortOnTimeout = True; initialDepth = 1389.865209; finalDepth = 1397.237664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.743471 # Actual altitude: 56.743471 # Commanded vehicle depth: 1397.237664 # Seafloor depth: -1453.402832 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 20 # Segment length 100.056639 meters # Minimum depth: 1439.865209 meters looking forward 100.000000 meters along route # Maximum depth: 1447.864137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1389.865209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715814; longitude = -122.013818; duration = 200; initialDepth = 1390.141211; finalDepth = 1389.865209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.998928 # Actual altitude: 57.998928 # Commanded vehicle depth: 1389.865209 # Seafloor depth: -1447.864137 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.40; 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 20 # Segment length 100.056652 meters # Minimum depth: 1440.141211 meters looking forward 100.000000 meters along route # Maximum depth: 1443.786730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1390.141211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716716; longitude = -122.013861; duration = 200; initialDepth = 1384.627878; finalDepth = 1390.141211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.998928 # Actual altitude: 57.998928 # Commanded vehicle depth: 1390.141211 # Seafloor depth: -1442.935944 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.40; 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 20 # Segment length 106.701873 meters # Minimum depth: 1434.627878 meters looking forward 100.000000 meters along route # Maximum depth: 1442.947840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1384.627878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717617; longitude = -122.013904; duration = 213; initialDepth = 1385.154358; finalDepth = 1384.627878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.18832 # Actual altitude: 55.18832 # Commanded vehicle depth: 1384.627878 # Seafloor depth: -1439.816198 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 19 # Segment length 138.932779 meters # Minimum depth: 1435.154358 meters looking forward 100.000000 meters along route # Maximum depth: 1442.116758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1385.154358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718578; longitude = -122.013950; duration = 277; # abortOnTimeout = True; initialDepth = 1375.443602; finalDepth = 1385.154358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.18832 # Actual altitude: 55.18832 # Commanded vehicle depth: 1385.154358 # Seafloor depth: -1435.154358 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 19 # Segment length 104.179774 meters # Minimum depth: 1425.443602 meters looking forward 100.000000 meters along route # Maximum depth: 1443.715362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1375.443602 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719780; longitude = -122.014387; duration = 208; initialDepth = 1378.782003; finalDepth = 1375.443602; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6659059999999 # Actual altitude: 65.6659059999999 # Commanded vehicle depth: 1375.443602 # Seafloor depth: -1441.109508 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 19 # Segment length 104.179685 meters # Minimum depth: 1428.782003 meters looking forward 100.000000 meters along route # Maximum depth: 1433.806350 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1378.782003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720681; longitude = -122.014715; duration = 208; initialDepth = 1354.797304; finalDepth = 1378.782003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.6659059999999 # Actual altitude: 65.6659059999999 # Commanded vehicle depth: 1378.782003 # Seafloor depth: -1433.806350 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 19 # Segment length 104.179597 meters # Minimum depth: 1404.797304 meters looking forward 100.000000 meters along route # Maximum depth: 1433.612975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1354.797304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721582; longitude = -122.015043; duration = 208; initialDepth = 1354.264437; finalDepth = 1354.797304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.448206 # Actual altitude: 77.448206 # Commanded vehicle depth: 1354.797304 # Seafloor depth: -1432.245510 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.23; 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 106.318058 meters # Minimum depth: 1404.264437 meters looking forward 100.000000 meters along route # Maximum depth: 1421.269251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1354.264437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722484; longitude = -122.015370; duration = 212; initialDepth = 1338.096472; finalDepth = 1354.264437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.448206 # Actual altitude: 77.448206 # Commanded vehicle depth: 1354.264437 # Seafloor depth: -1420.477301 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.23; 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 102.040871 meters # Minimum depth: 1388.096472 meters looking forward 100.000000 meters along route # Maximum depth: 1406.384039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1338.096472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723403; longitude = -122.015705; duration = 204; initialDepth = 1313.417170; finalDepth = 1338.096472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.2875670000001 # Actual altitude: 68.2875670000001 # Commanded vehicle depth: 1338.096472 # Seafloor depth: -1406.384039 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.49; 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 104.179332 meters # Minimum depth: 1363.417170 meters looking forward 100.000000 meters along route # Maximum depth: 1389.557431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1313.417170 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724286; longitude = -122.016026; duration = 208; initialDepth = 1310.566043; finalDepth = 1313.417170; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.282672 # Actual altitude: 75.282672 # Commanded vehicle depth: 1313.41717 # Seafloor depth: -1388.699842 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 19 # Segment length 104.179244 meters # Minimum depth: 1360.566043 meters looking forward 100.000000 meters along route # Maximum depth: 1371.968343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1310.566043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725187; longitude = -122.016354; duration = 208; initialDepth = 1304.632693; finalDepth = 1310.566043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.282672 # Actual altitude: 75.282672 # Commanded vehicle depth: 1310.566043 # Seafloor depth: -1364.866131 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 19 # Segment length 104.179155 meters # Minimum depth: 1354.632693 meters looking forward 100.000000 meters along route # Maximum depth: 1369.482317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1304.632693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726089; longitude = -122.016682; duration = 208; initialDepth = 1300.910582; finalDepth = 1304.632693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.962509 # Actual altitude: 55.962509 # Commanded vehicle depth: 1304.632693 # Seafloor depth: -1360.595202 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.79; 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 107.641070 meters # Minimum depth: 1350.910582 meters looking forward 100.000000 meters along route # Maximum depth: 1366.472410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1300.910582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726990; longitude = -122.017009; duration = 215; initialDepth = 1253.418504; finalDepth = 1300.910582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.5618280000001 # Actual altitude: 65.5618280000001 # Commanded vehicle depth: 1300.910582 # Seafloor depth: -1366.472410 # 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 = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.67; 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; } # ####################################################### # # 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 143.204916 meters # Minimum depth: 1303.418504 meters looking forward 100.000000 meters along route # Maximum depth: 1365.797394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1253.418504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727921; longitude = -122.017348; duration = 286; # abortOnTimeout = True; initialDepth = 1239.573480; finalDepth = 1253.418504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 112.37889 # Actual altitude: 100 # Commanded vehicle depth: 1253.418504 # Seafloor depth: -1365.797394 # 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 = 25; 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 17 # Segment length 91.010751 meters # Minimum depth: 1289.573480 meters looking forward 100.000000 meters along route # Maximum depth: 1311.940130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1239.573480 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728462; longitude = -122.015892; duration = 182; # abortOnTimeout = True; initialDepth = 1247.465267; finalDepth = 1239.573480; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.37889 # Actual altitude: 100 # Commanded vehicle depth: 1239.57348 # Seafloor depth: -1300.576172 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 102.274952 meters # Minimum depth: 1297.465267 meters looking forward 100.000000 meters along route # Maximum depth: 1309.778155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1247.465267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727678; longitude = -122.015593; duration = 204; initialDepth = 1260.635970; finalDepth = 1247.465267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3128879999999 # Actual altitude: 62.3128879999999 # Commanded vehicle depth: 1247.465267 # Seafloor depth: -1309.778155 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 17 # Segment length 103.064209 meters # Minimum depth: 1310.635970 meters looking forward 100.000000 meters along route # Maximum depth: 1367.917723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1260.635970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726796; longitude = -122.015257; duration = 206; initialDepth = 1296.383282; finalDepth = 1260.635970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.3128879999999 # Actual altitude: 62.3128879999999 # Commanded vehicle depth: 1260.63597 # Seafloor depth: -1310.635970 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 17 # Segment length 104.587580 meters # Minimum depth: 1346.383282 meters looking forward 100.000000 meters along route # Maximum depth: 1403.751646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1296.383282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725908; longitude = -122.014918; duration = 209; initialDepth = 1349.194113; finalDepth = 1296.383282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1296.383282 # Seafloor depth: -1346.383282 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.587678 meters # Minimum depth: 1399.194113 meters looking forward 100.000000 meters along route # Maximum depth: 1407.784880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1349.194113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725007; longitude = -122.014574; duration = 209; initialDepth = 1355.813782; finalDepth = 1349.194113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1349.194113 # Seafloor depth: -1399.194113 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 104.587776 meters # Minimum depth: 1405.813782 meters looking forward 100.000000 meters along route # Maximum depth: 1415.013198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1355.813782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724106; longitude = -122.014231; duration = 209; initialDepth = 1355.882620; finalDepth = 1355.813782; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.2614430000001 # Actual altitude: 52.2614430000001 # Commanded vehicle depth: 1355.813782 # Seafloor depth: -1408.075225 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 17 # Segment length 104.587873 meters # Minimum depth: 1405.882620 meters looking forward 100.000000 meters along route # Maximum depth: 1412.522206 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1355.882620 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723205; longitude = -122.013887; duration = 209; initialDepth = 1361.374569; finalDepth = 1355.882620; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1865639999999 # Actual altitude: 53.1865639999999 # Commanded vehicle depth: 1355.88262 # Seafloor depth: -1409.069184 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 17 # Segment length 104.587972 meters # Minimum depth: 1411.374569 meters looking forward 100.000000 meters along route # Maximum depth: 1414.601976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1361.374569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722303; longitude = -122.013543; duration = 209; initialDepth = 1362.176832; finalDepth = 1361.374569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1865639999999 # Actual altitude: 53.1865639999999 # Commanded vehicle depth: 1361.374569 # Seafloor depth: -1412.058298 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 17 # Segment length 104.588069 meters # Minimum depth: 1412.176832 meters looking forward 100.000000 meters along route # Maximum depth: 1422.564525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1362.176832 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721402; longitude = -122.013200; duration = 209; initialDepth = 1369.429433; finalDepth = 1362.176832; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7948199999998 # Actual altitude: 52.7948199999998 # Commanded vehicle depth: 1362.176832 # Seafloor depth: -1414.971652 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 17 # Segment length 104.588168 meters # Minimum depth: 1419.429433 meters looking forward 100.000000 meters along route # Maximum depth: 1425.854010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1369.429433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720501; longitude = -122.012856; duration = 209; initialDepth = 1372.474664; finalDepth = 1369.429433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.467922 # Actual altitude: 53.467922 # Commanded vehicle depth: 1369.429433 # Seafloor depth: -1422.897355 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 17 # Segment length 108.115323 meters # Minimum depth: 1422.474664 meters looking forward 100.000000 meters along route # Maximum depth: 1430.207452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1372.474664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719600; longitude = -122.012512; duration = 216; initialDepth = 1377.621124; finalDepth = 1372.474664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.467922 # Actual altitude: 53.467922 # Commanded vehicle depth: 1372.474664 # Seafloor depth: -1422.896268 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 16 # Segment length 137.717536 meters # Minimum depth: 1427.621124 meters looking forward 100.000000 meters along route # Maximum depth: 1434.116264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1377.621124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718668; longitude = -122.012157; duration = 275; # abortOnTimeout = True; initialDepth = 1384.323709; finalDepth = 1377.621124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4216039999999 # Actual altitude: 50.4216039999999 # Commanded vehicle depth: 1377.621124 # Seafloor depth: -1427.621124 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 16 # Segment length 100.797694 meters # Minimum depth: 1434.323709 meters looking forward 100.000000 meters along route # Maximum depth: 1437.831965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1384.323709 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717437; longitude = -122.011961; duration = 201; initialDepth = 1384.742703; finalDepth = 1384.323709; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.330772 # Actual altitude: 50.330772 # Commanded vehicle depth: 1384.323709 # Seafloor depth: -1434.654481 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.10; 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 16 # Segment length 102.879265 meters # Minimum depth: 1434.742703 meters looking forward 100.000000 meters along route # Maximum depth: 1443.090959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1384.742703 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716535; longitude = -122.011818; duration = 205; initialDepth = 1393.130344; finalDepth = 1384.742703; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.873916 # Actual altitude: 52.873916 # Commanded vehicle depth: 1384.742703 # Seafloor depth: -1437.616619 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; 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 16 # Segment length 105.419194 meters # Minimum depth: 1443.130344 meters looking forward 100.000000 meters along route # Maximum depth: 1451.460873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1393.130344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715616; longitude = -122.011672; duration = 210; initialDepth = 1392.084566; finalDepth = 1393.130344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.873916 # Actual altitude: 52.873916 # Commanded vehicle depth: 1393.130344 # Seafloor depth: -1443.130344 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; 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 to get to end of line 15 # Segment length 156.276162 meters # Minimum depth: 1442.084566 meters looking forward 100.000000 meters along route # Maximum depth: 1451.726135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1392.084566 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714673; longitude = -122.011522; duration = 312; # abortOnTimeout = True; initialDepth = 1385.027437; finalDepth = 1392.084566; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6415690000001 # Actual altitude: 59.6415690000001 # Commanded vehicle depth: 1392.084566 # Seafloor depth: -1451.726135 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 15 # Segment length 101.908192 meters # Minimum depth: 1435.027437 meters looking forward 100.000000 meters along route # Maximum depth: 1446.176930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1385.027437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713291; longitude = -122.011861; duration = 203; initialDepth = 1381.666467; finalDepth = 1385.027437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6415690000001 # Actual altitude: 59.6415690000001 # Commanded vehicle depth: 1385.027437 # Seafloor depth: -1442.752883 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 15 # Segment length 101.908217 meters # Minimum depth: 1431.666467 meters looking forward 100.000000 meters along route # Maximum depth: 1452.807929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1381.666467 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712390; longitude = -122.012081; duration = 203; initialDepth = 1369.651713; finalDepth = 1381.666467; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.141462 # Actual altitude: 71.141462 # Commanded vehicle depth: 1381.666467 # Seafloor depth: -1452.807929 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.34; 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 15 # Segment length 101.908243 meters # Minimum depth: 1419.651713 meters looking forward 100.000000 meters along route # Maximum depth: 1430.074693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1369.651713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711488; longitude = -122.012302; duration = 203; initialDepth = 1368.351052; finalDepth = 1369.651713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.141462 # Actual altitude: 71.141462 # Commanded vehicle depth: 1369.651713 # Seafloor depth: -1430.074693 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.34; 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 15 # Segment length 101.908269 meters # Minimum depth: 1418.351052 meters looking forward 100.000000 meters along route # Maximum depth: 1421.559972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1368.351052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710587; longitude = -122.012523; duration = 203; initialDepth = 1369.589567; finalDepth = 1368.351052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4229800000001 # Actual altitude: 60.4229800000001 # Commanded vehicle depth: 1368.351052 # Seafloor depth: -1419.378744 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 15 # Segment length 108.663671 meters # Minimum depth: 1419.589567 meters looking forward 100.000000 meters along route # Maximum depth: 1424.606347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1369.589567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709686; longitude = -122.012744; duration = 217; initialDepth = 1373.459961; finalDepth = 1369.589567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.0906279999999 # Actual altitude: 51.0906279999999 # Commanded vehicle depth: 1369.589567 # Seafloor depth: -1420.680195 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 14 # Segment length 147.551132 meters # Minimum depth: 1423.459961 meters looking forward 100.000000 meters along route # Maximum depth: 1453.213596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1373.459961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.708725; longitude = -122.012979; duration = 295; # abortOnTimeout = True; initialDepth = 1403.508559; finalDepth = 1373.459961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0906279999999 # Actual altitude: 51.0906279999999 # Commanded vehicle depth: 1373.459961 # Seafloor depth: -1423.459961 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 14 # Segment length 107.740247 meters # Minimum depth: 1453.508559 meters looking forward 100.000000 meters along route # Maximum depth: 1469.452806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1403.508559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707703; longitude = -122.014037; duration = 215; initialDepth = 1420.287392; finalDepth = 1403.508559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1403.508559 # Seafloor depth: -1453.508559 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.499086 meters # Minimum depth: 1470.287392 meters looking forward 100.000000 meters along route # Maximum depth: 1482.474485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1420.287392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706957; longitude = -122.014809; duration = 200; initialDepth = 1430.531195; finalDepth = 1420.287392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1420.287392 # Seafloor depth: -1470.287392 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.120231 meters # Minimum depth: 1480.531195 meters looking forward 100.000000 meters along route # Maximum depth: 1489.302353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1430.531195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706261; longitude = -122.015529; duration = 208; initialDepth = 1438.907112; finalDepth = 1430.531195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1430.531195 # Seafloor depth: -1480.531195 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.010538 meters # Minimum depth: 1488.907112 meters looking forward 100.000000 meters along route # Maximum depth: 1500.676987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1438.907112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705540; longitude = -122.016275; duration = 216; initialDepth = 1451.152361; finalDepth = 1438.907112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3701599999999 # Actual altitude: 50.3701599999999 # Commanded vehicle depth: 1438.907112 # Seafloor depth: -1489.277272 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.11; 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 14 # Segment length 100.231053 meters # Minimum depth: 1501.152361 meters looking forward 100.000000 meters along route # Maximum depth: 1513.977413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1451.152361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704792; longitude = -122.017049; duration = 200; initialDepth = 1464.882325; finalDepth = 1451.152361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3701599999999 # Actual altitude: 50.3701599999999 # Commanded vehicle depth: 1451.152361 # Seafloor depth: -1501.152361 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.11; 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 14 # Segment length 104.121361 meters # Minimum depth: 1514.882325 meters looking forward 100.000000 meters along route # Maximum depth: 1522.414890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1464.882325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704098; longitude = -122.017768; duration = 208; initialDepth = 1471.373963; finalDepth = 1464.882325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1464.882325 # Seafloor depth: -1514.882325 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.121736 meters # Minimum depth: 1521.373963 meters looking forward 100.000000 meters along route # Maximum depth: 1524.056028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1471.373963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703377; longitude = -122.018514; duration = 208; initialDepth = 1474.060430; finalDepth = 1471.373963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8973189999999 # Actual altitude: 50.8973189999999 # Commanded vehicle depth: 1471.373963 # Seafloor depth: -1522.271282 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 14 # Segment length 104.122113 meters # Minimum depth: 1524.060430 meters looking forward 100.000000 meters along route # Maximum depth: 1530.173171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1474.060430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702656; longitude = -122.019260; duration = 208; initialDepth = 1479.913884; finalDepth = 1474.060430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.8973189999999 # Actual altitude: 50.8973189999999 # Commanded vehicle depth: 1474.06043 # Seafloor depth: -1524.060430 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 14 # Segment length 108.500895 meters # Minimum depth: 1529.913884 meters looking forward 100.000000 meters along route # Maximum depth: 1536.643792 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1479.913884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701935; longitude = -122.020006; duration = 217; initialDepth = 1482.837891; finalDepth = 1479.913884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1479.913884 # Seafloor depth: -1529.913884 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 153.695100 meters # Minimum depth: 1532.837891 meters looking forward 100.000000 meters along route # Maximum depth: 1539.509365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1482.837891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701184; longitude = -122.020784; duration = 307; # abortOnTimeout = True; initialDepth = 1488.104311; finalDepth = 1482.837891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1482.837891 # Seafloor depth: -1532.837891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.276623 meters # Minimum depth: 1538.104311 meters looking forward 100.000000 meters along route # Maximum depth: 1543.852790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1488.104311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700493; longitude = -122.022275; duration = 200; initialDepth = 1493.579980; finalDepth = 1488.104311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1488.104311 # Seafloor depth: -1538.104311 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.277043 meters # Minimum depth: 1543.579980 meters looking forward 100.000000 meters along route # Maximum depth: 1551.297055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1493.579980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700043; longitude = -122.023249; duration = 200; initialDepth = 1500.071204; finalDepth = 1493.579980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1493.57998 # Seafloor depth: -1543.579980 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 100.277462 meters # Minimum depth: 1550.071204 meters looking forward 100.000000 meters along route # Maximum depth: 1556.476135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1500.071204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699592; longitude = -122.024222; duration = 200; initialDepth = 1506.099902; finalDepth = 1500.071204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.230225 # Actual altitude: 51.230225 # Commanded vehicle depth: 1500.071204 # Seafloor depth: -1551.301429 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.37; 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 13 # Segment length 100.277882 meters # Minimum depth: 1556.099902 meters looking forward 100.000000 meters along route # Maximum depth: 1561.687851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1506.099902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699141; longitude = -122.025195; duration = 200; initialDepth = 1511.410145; finalDepth = 1506.099902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.230225 # Actual altitude: 51.230225 # Commanded vehicle depth: 1506.099902 # Seafloor depth: -1556.099902 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.37; 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 13 # Segment length 100.278300 meters # Minimum depth: 1561.410145 meters looking forward 100.000000 meters along route # Maximum depth: 1563.817697 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1511.410145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698691; longitude = -122.026168; duration = 200; initialDepth = 1512.289149; finalDepth = 1511.410145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.871629 # Actual altitude: 50.871629 # Commanded vehicle depth: 1511.410145 # Seafloor depth: -1562.281774 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 13 # Segment length 103.016374 meters # Minimum depth: 1562.289149 meters looking forward 100.000000 meters along route # Maximum depth: 1574.768317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1512.289149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698240; longitude = -122.027141; duration = 206; initialDepth = 1524.914334; finalDepth = 1512.289149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.871629 # Actual altitude: 50.871629 # Commanded vehicle depth: 1512.289149 # Seafloor depth: -1562.289149 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 13 # Segment length 103.907766 meters # Minimum depth: 1574.914334 meters looking forward 100.000000 meters along route # Maximum depth: 1577.121391 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1524.914334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697777; longitude = -122.028140; duration = 207; initialDepth = 1527.118160; finalDepth = 1524.914334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1524.914334 # Seafloor depth: -1574.914334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.908216 meters # Minimum depth: 1577.118160 meters looking forward 100.000000 meters along route # Maximum depth: 1582.098369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1527.118160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697310; longitude = -122.029149; duration = 207; initialDepth = 1531.145796; finalDepth = 1527.118160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1527.11816 # Seafloor depth: -1577.118160 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 103.908667 meters # Minimum depth: 1581.145796 meters looking forward 100.000000 meters along route # Maximum depth: 1586.357032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1531.145796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696843; longitude = -122.030157; duration = 207; initialDepth = 1534.759245; finalDepth = 1531.145796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.78152 # Actual altitude: 50.78152 # Commanded vehicle depth: 1531.145796 # Seafloor depth: -1581.927316 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.23; 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 13 # Segment length 100.035925 meters # Minimum depth: 1584.759245 meters looking forward 100.000000 meters along route # Maximum depth: 1593.123497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1534.759245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696377; longitude = -122.031165; duration = 200; initialDepth = 1540.445801; finalDepth = 1534.759245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.78152 # Actual altitude: 50.78152 # Commanded vehicle depth: 1534.759245 # Seafloor depth: -1585.366005 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.23; 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 to get to end of line 12 # Segment length 173.578229 meters # Minimum depth: 1590.445801 meters looking forward 100.000000 meters along route # Maximum depth: 1600.389826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1540.445801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695927; longitude = -122.032136; duration = 347; # abortOnTimeout = True; initialDepth = 1546.854667; finalDepth = 1540.445801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.6067600000001 # Actual altitude: 50.6067600000001 # Commanded vehicle depth: 1540.445801 # Seafloor depth: -1590.445801 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.128853 meters # Minimum depth: 1596.854667 meters looking forward 100.000000 meters along route # Maximum depth: 1606.933338 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1546.854667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695973; longitude = -122.034078; duration = 200; initialDepth = 1550.135353; finalDepth = 1546.854667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.831676 # Actual altitude: 51.831676 # Commanded vehicle depth: 1546.854667 # Seafloor depth: -1598.686343 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.55; 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 12 # Segment length 100.128797 meters # Minimum depth: 1600.135353 meters looking forward 100.000000 meters along route # Maximum depth: 1615.674732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1550.135353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695999; longitude = -122.035198; duration = 200; initialDepth = 1558.188468; finalDepth = 1550.135353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.831676 # Actual altitude: 51.831676 # Commanded vehicle depth: 1550.135353 # Seafloor depth: -1600.968316 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.55; 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 12 # Segment length 100.128742 meters # Minimum depth: 1608.188468 meters looking forward 100.000000 meters along route # Maximum depth: 1620.249040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1558.188468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696026; longitude = -122.036319; duration = 200; initialDepth = 1562.607687; finalDepth = 1558.188468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7133269999999 # Actual altitude: 54.7133269999999 # Commanded vehicle depth: 1558.188468 # Seafloor depth: -1612.901795 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.128686 meters # Minimum depth: 1612.607687 meters looking forward 100.000000 meters along route # Maximum depth: 1617.862957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1562.607687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696052; longitude = -122.037439; duration = 200; initialDepth = 1564.988671; finalDepth = 1562.607687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7133269999999 # Actual altitude: 54.7133269999999 # Commanded vehicle depth: 1562.607687 # Seafloor depth: -1613.553864 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.128630 meters # Minimum depth: 1614.988671 meters looking forward 100.000000 meters along route # Maximum depth: 1625.156884 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1564.988671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696079; longitude = -122.038559; duration = 200; initialDepth = 1569.982299; finalDepth = 1564.988671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.946177 # Actual altitude: 50.946177 # Commanded vehicle depth: 1564.988671 # Seafloor depth: -1614.988671 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.28; 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 12 # Segment length 100.128575 meters # Minimum depth: 1619.982299 meters looking forward 100.000000 meters along route # Maximum depth: 1627.386822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1569.982299 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696105; longitude = -122.039680; duration = 200; initialDepth = 1571.267001; finalDepth = 1569.982299; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1569.982299 # Seafloor depth: -1619.982299 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.128520 meters # Minimum depth: 1621.267001 meters looking forward 100.000000 meters along route # Maximum depth: 1628.666066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1571.267001 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696132; longitude = -122.040800; duration = 200; initialDepth = 1578.863596; finalDepth = 1571.267001; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.637168 # Actual altitude: 56.637168 # Commanded vehicle depth: 1571.267001 # Seafloor depth: -1627.904169 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.128464 meters # Minimum depth: 1628.863596 meters looking forward 100.000000 meters along route # Maximum depth: 1637.338386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1578.863596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696158; longitude = -122.041920; duration = 200; initialDepth = 1575.687143; finalDepth = 1578.863596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.637168 # Actual altitude: 56.637168 # Commanded vehicle depth: 1578.863596 # Seafloor depth: -1629.421910 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.128408 meters # Minimum depth: 1625.687143 meters looking forward 100.000000 meters along route # Maximum depth: 1632.577892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1575.687143 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696184; longitude = -122.043041; duration = 200; initialDepth = 1577.738882; finalDepth = 1575.687143; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.118393 # Actual altitude: 53.118393 # Commanded vehicle depth: 1575.687143 # Seafloor depth: -1628.805536 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.94; 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 12 # Segment length 100.128354 meters # Minimum depth: 1627.738882 meters looking forward 100.000000 meters along route # Maximum depth: 1630.341101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1577.738882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696211; longitude = -122.044161; duration = 200; initialDepth = 1579.775997; finalDepth = 1577.738882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.118393 # Actual altitude: 53.118393 # Commanded vehicle depth: 1577.738882 # Seafloor depth: -1627.899431 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.94; 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 12 # Segment length 100.128298 meters # Minimum depth: 1629.775997 meters looking forward 100.000000 meters along route # Maximum depth: 1635.278481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1579.775997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696237; longitude = -122.045281; duration = 200; initialDepth = 1580.788923; finalDepth = 1579.775997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0128910000001 # Actual altitude: 52.0128910000001 # Commanded vehicle depth: 1579.775997 # Seafloor depth: -1631.788888 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.60; 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 12 # Segment length 100.128243 meters # Minimum depth: 1630.788923 meters looking forward 100.000000 meters along route # Maximum depth: 1643.493675 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1580.788923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696264; longitude = -122.046402; duration = 200; initialDepth = 1585.972483; finalDepth = 1580.788923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.0128910000001 # Actual altitude: 52.0128910000001 # Commanded vehicle depth: 1580.788923 # Seafloor depth: -1630.788923 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.60; 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 12 # Segment length 100.128187 meters # Minimum depth: 1635.972483 meters looking forward 100.000000 meters along route # Maximum depth: 1649.017723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1585.972483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696290; longitude = -122.047522; duration = 200; initialDepth = 1597.361313; finalDepth = 1585.972483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6802479999999 # Actual altitude: 55.6802479999999 # Commanded vehicle depth: 1585.972483 # Seafloor depth: -1641.652731 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.128132 meters # Minimum depth: 1647.361313 meters looking forward 100.000000 meters along route # Maximum depth: 1656.356945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1597.361313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696317; longitude = -122.048642; duration = 200; initialDepth = 1604.087775; finalDepth = 1597.361313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.6802479999999 # Actual altitude: 55.6802479999999 # Commanded vehicle depth: 1597.361313 # Seafloor depth: -1647.361313 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.128077 meters # Minimum depth: 1654.087775 meters looking forward 100.000000 meters along route # Maximum depth: 1658.483936 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1604.087775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696343; longitude = -122.049763; duration = 200; initialDepth = 1612.613631; finalDepth = 1604.087775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.918934 # Actual altitude: 50.918934 # Commanded vehicle depth: 1604.087775 # Seafloor depth: -1655.006709 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.28; 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 12 # Segment length 100.128022 meters # Minimum depth: 1662.613631 meters looking forward 100.000000 meters along route # Maximum depth: 1670.400413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1612.613631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696370; longitude = -122.050883; duration = 200; initialDepth = 1617.953472; finalDepth = 1612.613631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7867820000001 # Actual altitude: 57.7867820000001 # Commanded vehicle depth: 1612.613631 # Seafloor depth: -1670.400413 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.34; 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 12 # Segment length 100.127966 meters # Minimum depth: 1667.953472 meters looking forward 100.000000 meters along route # Maximum depth: 1677.821641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1617.953472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696396; longitude = -122.052003; duration = 200; initialDepth = 1624.537069; finalDepth = 1617.953472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7867820000001 # Actual altitude: 57.7867820000001 # Commanded vehicle depth: 1617.953472 # Seafloor depth: -1667.953472 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.34; 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 12 # Segment length 100.127912 meters # Minimum depth: 1674.537069 meters looking forward 100.000000 meters along route # Maximum depth: 1684.837093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1624.537069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696423; longitude = -122.053123; duration = 200; initialDepth = 1632.801088; finalDepth = 1624.537069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1624.537069 # Seafloor depth: -1674.537069 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.127856 meters # Minimum depth: 1682.801088 meters looking forward 100.000000 meters along route # Maximum depth: 1696.033723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1632.801088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696449; longitude = -122.054244; duration = 200; initialDepth = 1644.205490; finalDepth = 1632.801088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1632.801088 # Seafloor depth: -1682.801088 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.127801 meters # Minimum depth: 1694.205490 meters looking forward 100.000000 meters along route # Maximum depth: 1701.942973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1644.205490 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696475; longitude = -122.055364; duration = 200; initialDepth = 1652.182803; finalDepth = 1644.205490; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.239767 # Actual altitude: 52.239767 # Commanded vehicle depth: 1644.20549 # Seafloor depth: -1696.445257 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.67; 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 12 # Segment length 100.127746 meters # Minimum depth: 1702.182803 meters looking forward 100.000000 meters along route # Maximum depth: 1708.852277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1652.182803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696502; longitude = -122.056484; duration = 200; initialDepth = 1657.052009; finalDepth = 1652.182803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.239767 # Actual altitude: 52.239767 # Commanded vehicle depth: 1652.182803 # Seafloor depth: -1703.384895 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.67; 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 12 # Segment length 100.127691 meters # Minimum depth: 1707.052009 meters looking forward 100.000000 meters along route # Maximum depth: 1712.522628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1657.052009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696528; longitude = -122.057605; duration = 200; initialDepth = 1654.917102; finalDepth = 1657.052009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.202092 # Actual altitude: 51.202092 # Commanded vehicle depth: 1657.052009 # Seafloor depth: -1707.052009 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.36; 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 12 # Segment length 100.127636 meters # Minimum depth: 1704.917102 meters looking forward 100.000000 meters along route # Maximum depth: 1718.692646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1654.917102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696555; longitude = -122.058725; duration = 200; initialDepth = 1663.619100; finalDepth = 1654.917102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.011583 # Actual altitude: 57.011583 # Commanded vehicle depth: 1654.917102 # Seafloor depth: -1711.928685 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.127581 meters # Minimum depth: 1713.619100 meters looking forward 100.000000 meters along route # Maximum depth: 1720.558698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1663.619100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696581; longitude = -122.059845; duration = 200; initialDepth = 1671.804944; finalDepth = 1663.619100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.011583 # Actual altitude: 57.011583 # Commanded vehicle depth: 1663.6191 # Seafloor depth: -1713.619100 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.127526 meters # Minimum depth: 1721.804944 meters looking forward 100.000000 meters along route # Maximum depth: 1729.079960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1671.804944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696608; longitude = -122.060966; duration = 200; initialDepth = 1677.890727; finalDepth = 1671.804944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3482369999999 # Actual altitude: 50.3482369999999 # Commanded vehicle depth: 1671.804944 # Seafloor depth: -1722.153181 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.10; 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 12 # Segment length 100.127470 meters # Minimum depth: 1727.890727 meters looking forward 100.000000 meters along route # Maximum depth: 1734.688674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1677.890727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696634; longitude = -122.062086; duration = 200; initialDepth = 1684.420839; finalDepth = 1677.890727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.3482369999999 # Actual altitude: 50.3482369999999 # Commanded vehicle depth: 1677.890727 # Seafloor depth: -1728.151669 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.10; 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 12 # Segment length 100.127416 meters # Minimum depth: 1734.420839 meters looking forward 100.000000 meters along route # Maximum depth: 1740.119275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1684.420839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696661; longitude = -122.063206; duration = 200; initialDepth = 1690.775860; finalDepth = 1684.420839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1939610000002 # Actual altitude: 51.1939610000002 # Commanded vehicle depth: 1684.420839 # Seafloor depth: -1735.614800 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.36; 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 12 # Segment length 100.127361 meters # Minimum depth: 1740.775860 meters looking forward 100.000000 meters along route # Maximum depth: 1748.670228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1690.775860 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696687; longitude = -122.064327; duration = 200; initialDepth = 1697.195692; finalDepth = 1690.775860; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1939610000002 # Actual altitude: 51.1939610000002 # Commanded vehicle depth: 1690.77586 # Seafloor depth: -1740.775860 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.36; 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 12 # Segment length 100.127307 meters # Minimum depth: 1747.195692 meters looking forward 100.000000 meters along route # Maximum depth: 1751.192065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1697.195692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696713; longitude = -122.065447; duration = 200; initialDepth = 1700.926372; finalDepth = 1697.195692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1697.195692 # Seafloor depth: -1747.195692 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.127251 meters # Minimum depth: 1750.926372 meters looking forward 100.000000 meters along route # Maximum depth: 1758.384064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1700.926372 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696740; longitude = -122.066567; duration = 200; initialDepth = 1704.368597; finalDepth = 1700.926372; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1700.926372 # Seafloor depth: -1750.926372 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.127196 meters # Minimum depth: 1754.368597 meters looking forward 100.000000 meters along route # Maximum depth: 1757.004601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1704.368597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696766; longitude = -122.067688; duration = 200; initialDepth = 1705.103328; finalDepth = 1704.368597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.613053 # Actual altitude: 52.613053 # Commanded vehicle depth: 1704.368597 # Seafloor depth: -1756.981650 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.127142 meters # Minimum depth: 1755.103328 meters looking forward 100.000000 meters along route # Maximum depth: 1760.967186 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1705.103328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696793; longitude = -122.068808; duration = 200; initialDepth = 1703.608630; finalDepth = 1705.103328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.613053 # Actual altitude: 52.613053 # Commanded vehicle depth: 1705.103328 # Seafloor depth: -1755.751666 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 12 # Segment length 100.127087 meters # Minimum depth: 1753.608630 meters looking forward 100.000000 meters along route # Maximum depth: 1761.066220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1703.608630 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696819; longitude = -122.069928; duration = 200; initialDepth = 1708.992084; finalDepth = 1703.608630; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.051735 # Actual altitude: 53.051735 # Commanded vehicle depth: 1703.60863 # Seafloor depth: -1756.660365 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; 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 12 # Segment length 103.181030 meters # Minimum depth: 1758.992084 meters looking forward 100.000000 meters along route # Maximum depth: 1764.297661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1708.992084 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696846; longitude = -122.071049; duration = 206; initialDepth = 1711.842773; finalDepth = 1708.992084; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.051735 # Actual altitude: 53.051735 # Commanded vehicle depth: 1708.992084 # Seafloor depth: -1758.992084 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; 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 to get to end of line 11 # Segment length 167.102040 meters # Minimum depth: 1761.842773 meters looking forward 100.000000 meters along route # Maximum depth: 1774.611615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1711.842773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696873; longitude = -122.072203; duration = 334; # abortOnTimeout = True; initialDepth = 1718.245556; finalDepth = 1711.842773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1711.842773 # Seafloor depth: -1761.842773 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.091098 meters # Minimum depth: 1768.245556 meters looking forward 100.000000 meters along route # Maximum depth: 1772.974923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1718.245556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696891; longitude = -122.074073; duration = 200; initialDepth = 1718.939277; finalDepth = 1718.245556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1718.245556 # Seafloor depth: -1768.245556 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.091063 meters # Minimum depth: 1768.939277 meters looking forward 100.000000 meters along route # Maximum depth: 1782.237970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1718.939277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696902; longitude = -122.075194; duration = 200; initialDepth = 1719.346060; finalDepth = 1718.939277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.0351970000002 # Actual altitude: 50.0351970000002 # Commanded vehicle depth: 1718.939277 # Seafloor depth: -1768.974474 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.01; 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 11 # Segment length 100.091029 meters # Minimum depth: 1769.346060 meters looking forward 100.000000 meters along route # Maximum depth: 1788.466221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1719.346060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696913; longitude = -122.076314; duration = 200; initialDepth = 1717.920402; finalDepth = 1719.346060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1201609999998 # Actual altitude: 69.1201609999998 # Commanded vehicle depth: 1719.34606 # Seafloor depth: -1788.466221 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.090995 meters # Minimum depth: 1767.920402 meters looking forward 100.000000 meters along route # Maximum depth: 1781.851044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1717.920402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696923; longitude = -122.077434; duration = 200; initialDepth = 1721.936830; finalDepth = 1717.920402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.1201609999998 # Actual altitude: 69.1201609999998 # Commanded vehicle depth: 1717.920402 # Seafloor depth: -1769.443246 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.090960 meters # Minimum depth: 1771.936830 meters looking forward 100.000000 meters along route # Maximum depth: 1782.500593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1721.936830 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696934; longitude = -122.078555; duration = 200; initialDepth = 1713.531486; finalDepth = 1721.936830; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.5228440000001 # Actual altitude: 51.5228440000001 # Commanded vehicle depth: 1721.93683 # Seafloor depth: -1771.936830 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; 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 11 # Segment length 100.090926 meters # Minimum depth: 1763.531486 meters looking forward 100.000000 meters along route # Maximum depth: 1783.037928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1713.531486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696945; longitude = -122.079675; duration = 200; initialDepth = 1693.924124; finalDepth = 1713.531486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.9557579999998 # Actual altitude: 64.9557579999998 # Commanded vehicle depth: 1713.531486 # Seafloor depth: -1778.487244 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 11 # Segment length 100.090892 meters # Minimum depth: 1743.924124 meters looking forward 100.000000 meters along route # Maximum depth: 1780.938880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1693.924124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696956; longitude = -122.080795; duration = 200; initialDepth = 1703.081270; finalDepth = 1693.924124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.014756 # Actual altitude: 87.014756 # Commanded vehicle depth: 1693.924124 # Seafloor depth: -1780.938880 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.10; 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 11 # Segment length 100.090857 meters # Minimum depth: 1753.081270 meters looking forward 100.000000 meters along route # Maximum depth: 1764.774794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1703.081270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696967; longitude = -122.081916; duration = 200; initialDepth = 1697.686901; finalDepth = 1703.081270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.014756 # Actual altitude: 87.014756 # Commanded vehicle depth: 1703.08127 # Seafloor depth: -1763.276679 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.10; 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 11 # Segment length 100.090824 meters # Minimum depth: 1747.686901 meters looking forward 100.000000 meters along route # Maximum depth: 1761.727308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1697.686901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696977; longitude = -122.083036; duration = 200; initialDepth = 1667.201236; finalDepth = 1697.686901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.1954090000002 # Actual altitude: 60.1954090000002 # Commanded vehicle depth: 1697.686901 # Seafloor depth: -1757.837493 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 11 # Segment length 100.090789 meters # Minimum depth: 1717.201236 meters looking forward 100.000000 meters along route # Maximum depth: 1756.547597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1667.201236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696988; longitude = -122.084156; duration = 200; initialDepth = 1671.697059; finalDepth = 1667.201236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.4131749999999 # Actual altitude: 82.4131749999999 # Commanded vehicle depth: 1667.201236 # Seafloor depth: -1749.614411 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.72; 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 11 # Segment length 100.090755 meters # Minimum depth: 1721.697059 meters looking forward 100.000000 meters along route # Maximum depth: 1756.124033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1671.697059 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696999; longitude = -122.085277; duration = 200; initialDepth = 1640.606063; finalDepth = 1671.697059; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.426974 # Actual altitude: 84.426974 # Commanded vehicle depth: 1671.697059 # Seafloor depth: -1756.124033 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.33; 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 100.090720 meters # Minimum depth: 1690.606063 meters looking forward 100.000000 meters along route # Maximum depth: 1740.702335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1640.606063 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697010; longitude = -122.086397; duration = 200; initialDepth = 1632.842823; finalDepth = 1640.606063; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.4023979999999 # Actual altitude: 93.4023979999999 # Commanded vehicle depth: 1640.606063 # Seafloor depth: -1734.008461 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.02; 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 11 # Segment length 100.090687 meters # Minimum depth: 1682.842823 meters looking forward 100.000000 meters along route # Maximum depth: 1716.029082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1632.842823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697021; longitude = -122.087517; duration = 200; initialDepth = 1673.778494; finalDepth = 1632.842823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.4023979999999 # Actual altitude: 93.4023979999999 # Commanded vehicle depth: 1632.842823 # Seafloor depth: -1682.842823 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.02; 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 11 # Segment length 100.090652 meters # Minimum depth: 1723.778494 meters looking forward 100.000000 meters along route # Maximum depth: 1771.787638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1673.778494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697032; longitude = -122.088637; duration = 200; initialDepth = 1719.225693; finalDepth = 1673.778494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1673.778494 # Seafloor depth: -1723.778494 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.090619 meters # Minimum depth: 1769.225693 meters looking forward 100.000000 meters along route # Maximum depth: 1778.000024 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1719.225693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697042; longitude = -122.089758; duration = 200; initialDepth = 1720.572925; finalDepth = 1719.225693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3410159999999 # Actual altitude: 58.3410159999999 # Commanded vehicle depth: 1719.225693 # Seafloor depth: -1777.566709 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 11 # Segment length 100.090584 meters # Minimum depth: 1770.572925 meters looking forward 100.000000 meters along route # Maximum depth: 1786.234156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1720.572925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697053; longitude = -122.090878; duration = 200; initialDepth = 1723.658491; finalDepth = 1720.572925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3410159999999 # Actual altitude: 58.3410159999999 # Commanded vehicle depth: 1720.572925 # Seafloor depth: -1773.320279 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 11 # Segment length 100.090550 meters # Minimum depth: 1773.658491 meters looking forward 100.000000 meters along route # Maximum depth: 1792.595636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1723.658491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697064; longitude = -122.091998; duration = 200; initialDepth = 1737.997267; finalDepth = 1723.658491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6929320000002 # Actual altitude: 53.6929320000002 # Commanded vehicle depth: 1723.658491 # Seafloor depth: -1777.351423 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.11; 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 11 # Segment length 100.090517 meters # Minimum depth: 1787.997267 meters looking forward 100.000000 meters along route # Maximum depth: 1816.491185 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1737.997267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697075; longitude = -122.093119; duration = 200; initialDepth = 1762.862177; finalDepth = 1737.997267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6929320000002 # Actual altitude: 53.6929320000002 # Commanded vehicle depth: 1737.997267 # Seafloor depth: -1787.997267 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.11; 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 11 # Segment length 100.090482 meters # Minimum depth: 1812.862177 meters looking forward 100.000000 meters along route # Maximum depth: 1844.052302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1762.862177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697086; longitude = -122.094239; duration = 200; initialDepth = 1794.315462; finalDepth = 1762.862177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1762.862177 # Seafloor depth: -1812.862177 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.090449 meters # Minimum depth: 1844.315462 meters looking forward 100.000000 meters along route # Maximum depth: 1856.629507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1794.315462 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697096; longitude = -122.095359; duration = 200; initialDepth = 1801.608240; finalDepth = 1794.315462; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.267229 # Actual altitude: 53.267229 # Commanded vehicle depth: 1794.315462 # Seafloor depth: -1847.582691 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 11 # Segment length 100.090414 meters # Minimum depth: 1851.608240 meters looking forward 100.000000 meters along route # Maximum depth: 1862.847998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1801.608240 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697107; longitude = -122.096480; duration = 200; initialDepth = 1805.193362; finalDepth = 1801.608240; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.267229 # Actual altitude: 53.267229 # Commanded vehicle depth: 1801.60824 # Seafloor depth: -1851.608240 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 11 # Segment length 100.090380 meters # Minimum depth: 1855.193362 meters looking forward 100.000000 meters along route # Maximum depth: 1862.445983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1805.193362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697118; longitude = -122.097600; duration = 200; initialDepth = 1809.181176; finalDepth = 1805.193362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1805.193362 # Seafloor depth: -1855.193362 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 100.090347 meters # Minimum depth: 1859.181176 meters looking forward 100.000000 meters along route # Maximum depth: 1865.626368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1809.181176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697129; longitude = -122.098720; duration = 200; initialDepth = 1816.559069; finalDepth = 1809.181176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3601549999998 # Actual altitude: 52.3601549999998 # Commanded vehicle depth: 1809.181176 # Seafloor depth: -1861.541331 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 100.090313 meters # Minimum depth: 1866.559069 meters looking forward 100.000000 meters along route # Maximum depth: 1870.172823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1816.559069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697140; longitude = -122.099841; duration = 200; initialDepth = 1818.508131; finalDepth = 1816.559069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3601549999998 # Actual altitude: 52.3601549999998 # Commanded vehicle depth: 1816.559069 # Seafloor depth: -1866.559069 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 100.090279 meters # Minimum depth: 1868.508131 meters looking forward 100.000000 meters along route # Maximum depth: 1877.022483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1818.508131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697150; longitude = -122.100961; duration = 200; initialDepth = 1822.298572; finalDepth = 1818.508131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1818.508131 # Seafloor depth: -1868.508131 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 109.600208 meters # Minimum depth: 1872.298572 meters looking forward 100.000000 meters along route # Maximum depth: 1877.099960 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1822.298572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697161; longitude = -122.102081; duration = 219; initialDepth = 1825.485825; finalDepth = 1822.298572; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1822.298572 # Seafloor depth: -1872.298572 # 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 = 25; 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; } # ####################################################### # # 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 149.996581 meters # Minimum depth: 1875.485825 meters looking forward 100.000000 meters along route # Maximum depth: 1887.112150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1825.485825 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697173; longitude = -122.103308; duration = 299; # abortOnTimeout = True; initialDepth = 1820.177929; finalDepth = 1825.485825; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.4178919999999 # Actual altitude: 52.4178919999999 # Commanded vehicle depth: 1825.485825 # Seafloor depth: -1877.903717 # 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 = 25; 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; } # ####################################################### # # 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 171.444197 meters # Minimum depth: 1870.177929 meters looking forward 100.000000 meters along route # Maximum depth: 1885.054718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1820.177929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695821; longitude = -122.103328; duration = 342; # abortOnTimeout = True; initialDepth = 1814.009863; finalDepth = 1820.177929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8767890000001 # Actual altitude: 64.8767890000001 # Commanded vehicle depth: 1820.177929 # Seafloor depth: -1885.054718 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.46; 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 9 # Segment length 100.092052 meters # Minimum depth: 1864.009863 meters looking forward 100.000000 meters along route # Maximum depth: 1870.660417 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1814.009863 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695802; longitude = -122.101409; duration = 200; initialDepth = 1806.583675; finalDepth = 1814.009863; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8767890000001 # Actual altitude: 64.8767890000001 # Commanded vehicle depth: 1814.009863 # Seafloor depth: -1870.660417 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.46; 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 9 # Segment length 100.092086 meters # Minimum depth: 1856.583675 meters looking forward 100.000000 meters along route # Maximum depth: 1864.586069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1806.583675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695792; longitude = -122.100289; duration = 200; initialDepth = 1799.627065; finalDepth = 1806.583675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.815871 # Actual altitude: 56.815871 # Commanded vehicle depth: 1806.583675 # Seafloor depth: -1863.399546 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 9 # Segment length 100.092120 meters # Minimum depth: 1849.627065 meters looking forward 100.000000 meters along route # Maximum depth: 1860.489918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1799.627065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695781; longitude = -122.099168; duration = 200; initialDepth = 1794.046540; finalDepth = 1799.627065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0323450000001 # Actual altitude: 59.0323450000001 # Commanded vehicle depth: 1799.627065 # Seafloor depth: -1858.659410 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 9 # Segment length 100.092154 meters # Minimum depth: 1844.046540 meters looking forward 100.000000 meters along route # Maximum depth: 1854.608317 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1794.046540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695770; longitude = -122.098048; duration = 200; initialDepth = 1784.647629; finalDepth = 1794.046540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.0323450000001 # Actual altitude: 59.0323450000001 # Commanded vehicle depth: 1794.04654 # Seafloor depth: -1846.600812 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 9 # Segment length 100.092188 meters # Minimum depth: 1834.647629 meters looking forward 100.000000 meters along route # Maximum depth: 1845.709622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1784.647629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695759; longitude = -122.096928; duration = 200; initialDepth = 1767.363650; finalDepth = 1784.647629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1724099999999 # Actual altitude: 56.1724099999999 # Commanded vehicle depth: 1784.647629 # Seafloor depth: -1840.820039 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.85; 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 100.092221 meters # Minimum depth: 1817.363650 meters looking forward 100.000000 meters along route # Maximum depth: 1834.798865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1767.363650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695748; longitude = -122.095807; duration = 200; initialDepth = 1727.739991; finalDepth = 1767.363650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.9183909999999 # Actual altitude: 66.9183909999999 # Commanded vehicle depth: 1767.36365 # Seafloor depth: -1834.282041 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.08; 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 9 # Segment length 100.092256 meters # Minimum depth: 1777.739991 meters looking forward 100.000000 meters along route # Maximum depth: 1817.641265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1727.739991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695738; longitude = -122.094687; duration = 200; initialDepth = 1679.480220; finalDepth = 1727.739991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.9012740000001 # Actual altitude: 89.9012740000001 # Commanded vehicle depth: 1727.739991 # Seafloor depth: -1817.641265 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.97; 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 9 # Segment length 100.092290 meters # Minimum depth: 1729.480220 meters looking forward 100.000000 meters along route # Maximum depth: 1774.987422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1679.480220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695727; longitude = -122.093567; duration = 200; initialDepth = 1648.257921; finalDepth = 1679.480220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.507202 # Actual altitude: 95.507202 # Commanded vehicle depth: 1679.48022 # Seafloor depth: -1774.987422 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.65; 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 9 # Segment length 100.092323 meters # Minimum depth: 1698.257921 meters looking forward 100.000000 meters along route # Maximum depth: 1728.473133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1648.257921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695716; longitude = -122.092447; duration = 200; initialDepth = 1632.207435; finalDepth = 1648.257921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.507202 # Actual altitude: 95.507202 # Commanded vehicle depth: 1648.257921 # Seafloor depth: -1728.473133 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.65; 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 9 # Segment length 100.092358 meters # Minimum depth: 1682.207435 meters looking forward 100.000000 meters along route # Maximum depth: 1695.736316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1632.207435 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695705; longitude = -122.091326; duration = 200; initialDepth = 1615.103577; finalDepth = 1632.207435; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.2152120000001 # Actual altitude: 80.2152120000001 # Commanded vehicle depth: 1632.207435 # Seafloor depth: -1695.591809 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.06; 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 9 # Segment length 100.092392 meters # Minimum depth: 1665.103577 meters looking forward 100.000000 meters along route # Maximum depth: 1696.503519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1615.103577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695694; longitude = -122.090206; duration = 200; initialDepth = 1614.427844; finalDepth = 1615.103577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7195889999998 # Actual altitude: 77.7195889999998 # Commanded vehicle depth: 1615.103577 # Seafloor depth: -1692.823166 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.32; 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 9 # Segment length 100.092426 meters # Minimum depth: 1664.427844 meters looking forward 100.000000 meters along route # Maximum depth: 1684.120346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1614.427844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695684; longitude = -122.089086; duration = 200; initialDepth = 1604.094603; finalDepth = 1614.427844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.7195889999998 # Actual altitude: 77.7195889999998 # Commanded vehicle depth: 1614.427844 # Seafloor depth: -1676.767457 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.32; 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 9 # Segment length 100.092460 meters # Minimum depth: 1654.094603 meters looking forward 100.000000 meters along route # Maximum depth: 1678.659593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1604.094603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695673; longitude = -122.087965; duration = 200; initialDepth = 1578.219319; finalDepth = 1604.094603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.5649900000001 # Actual altitude: 74.5649900000001 # Commanded vehicle depth: 1604.094603 # Seafloor depth: -1678.659593 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 9 # Segment length 100.092494 meters # Minimum depth: 1628.219319 meters looking forward 100.000000 meters along route # Maximum depth: 1650.095489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1578.219319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695662; longitude = -122.086845; duration = 200; initialDepth = 1566.662110; finalDepth = 1578.219319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.5649900000001 # Actual altitude: 74.5649900000001 # Commanded vehicle depth: 1578.219319 # Seafloor depth: -1650.095489 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 9 # Segment length 100.092528 meters # Minimum depth: 1616.662110 meters looking forward 100.000000 meters along route # Maximum depth: 1647.850543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1566.662110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695651; longitude = -122.085725; duration = 200; initialDepth = 1566.974845; finalDepth = 1566.662110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.87617 # Actual altitude: 71.87617 # Commanded vehicle depth: 1566.66211 # Seafloor depth: -1628.941820 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.56; 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 100.092563 meters # Minimum depth: 1616.974845 meters looking forward 100.000000 meters along route # Maximum depth: 1666.965262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1566.974845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695640; longitude = -122.084604; duration = 200; initialDepth = 1579.544078; finalDepth = 1566.974845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.27971 # Actual altitude: 62.27971 # Commanded vehicle depth: 1566.974845 # Seafloor depth: -1616.974845 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.68; 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 100.092596 meters # Minimum depth: 1629.544078 meters looking forward 100.000000 meters along route # Maximum depth: 1682.550243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1579.544078 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695630; longitude = -122.083484; duration = 200; initialDepth = 1615.496053; finalDepth = 1579.544078; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9732510000001 # Actual altitude: 81.9732510000001 # Commanded vehicle depth: 1579.544078 # Seafloor depth: -1661.517329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.59; 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 9 # Segment length 100.092631 meters # Minimum depth: 1665.496053 meters looking forward 100.000000 meters along route # Maximum depth: 1697.863473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1615.496053 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695619; longitude = -122.082364; duration = 200; initialDepth = 1611.138245; finalDepth = 1615.496053; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.9732510000001 # Actual altitude: 81.9732510000001 # Commanded vehicle depth: 1615.496053 # Seafloor depth: -1665.496053 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.59; 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 9 # Segment length 100.092666 meters # Minimum depth: 1661.138245 meters looking forward 100.000000 meters along route # Maximum depth: 1701.785946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1611.138245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695608; longitude = -122.081243; duration = 200; initialDepth = 1632.966287; finalDepth = 1611.138245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4471039999999 # Actual altitude: 62.4471039999999 # Commanded vehicle depth: 1611.138245 # Seafloor depth: -1673.585349 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.73; 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 9 # Segment length 100.092699 meters # Minimum depth: 1682.966287 meters looking forward 100.000000 meters along route # Maximum depth: 1723.982862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1632.966287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695597; longitude = -122.080123; duration = 200; initialDepth = 1662.885904; finalDepth = 1632.966287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.4471039999999 # Actual altitude: 62.4471039999999 # Commanded vehicle depth: 1632.966287 # Seafloor depth: -1682.966287 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.73; 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 9 # Segment length 100.092734 meters # Minimum depth: 1712.885904 meters looking forward 100.000000 meters along route # Maximum depth: 1735.193390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1662.885904 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695586; longitude = -122.079003; duration = 200; initialDepth = 1669.259933; finalDepth = 1662.885904; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.3074859999999 # Actual altitude: 72.3074859999999 # Commanded vehicle depth: 1662.885904 # Seafloor depth: -1735.193390 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.69; 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 9 # Segment length 100.092768 meters # Minimum depth: 1719.259933 meters looking forward 100.000000 meters along route # Maximum depth: 1739.528365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1669.259933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695576; longitude = -122.077882; duration = 200; initialDepth = 1677.209750; finalDepth = 1669.259933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.3074859999999 # Actual altitude: 72.3074859999999 # Commanded vehicle depth: 1669.259933 # Seafloor depth: -1727.382128 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.69; 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 9 # Segment length 100.092803 meters # Minimum depth: 1727.209750 meters looking forward 100.000000 meters along route # Maximum depth: 1742.555505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1677.209750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695565; longitude = -122.076762; duration = 200; initialDepth = 1684.835646; finalDepth = 1677.209750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1221949999999 # Actual altitude: 58.1221949999999 # Commanded vehicle depth: 1677.20975 # Seafloor depth: -1727.209750 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 9 # Segment length 100.092837 meters # Minimum depth: 1734.835646 meters looking forward 100.000000 meters along route # Maximum depth: 1744.139779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1684.835646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695554; longitude = -122.075642; duration = 200; initialDepth = 1678.832631; finalDepth = 1684.835646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.9976509999999 # Actual altitude: 50.9976509999999 # Commanded vehicle depth: 1684.835646 # Seafloor depth: -1735.833297 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.30; 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 9 # Segment length 100.092871 meters # Minimum depth: 1728.832631 meters looking forward 100.000000 meters along route # Maximum depth: 1741.561344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1678.832631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695543; longitude = -122.074521; duration = 200; initialDepth = 1671.283997; finalDepth = 1678.832631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.728713 # Actual altitude: 62.728713 # Commanded vehicle depth: 1678.832631 # Seafloor depth: -1741.561344 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 9 # Segment length 105.262369 meters # Minimum depth: 1721.283997 meters looking forward 100.000000 meters along route # Maximum depth: 1744.372680 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1671.283997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695532; longitude = -122.073401; duration = 210; initialDepth = 1684.208876; finalDepth = 1671.283997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.4938609999999 # Actual altitude: 65.4938609999999 # Commanded vehicle depth: 1671.283997 # Seafloor depth: -1736.777858 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.65; 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 to get to end of line 8 # Segment length 165.057143 meters # Minimum depth: 1734.208876 meters looking forward 100.000000 meters along route # Maximum depth: 1737.987183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1684.208876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695521; longitude = -122.072223; duration = 330; # abortOnTimeout = True; initialDepth = 1684.130403; finalDepth = 1684.208876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.4938609999999 # Actual altitude: 65.4938609999999 # Commanded vehicle depth: 1684.208876 # Seafloor depth: -1734.972687 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.65; 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 8 # Segment length 100.229474 meters # Minimum depth: 1734.130403 meters looking forward 100.000000 meters along route # Maximum depth: 1747.840677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1684.130403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695475; longitude = -122.070376; duration = 200; initialDepth = 1686.327739; finalDepth = 1684.130403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.74215 # Actual altitude: 54.74215 # Commanded vehicle depth: 1684.130403 # Seafloor depth: -1738.872553 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.039859 meters # Minimum depth: 1736.327739 meters looking forward 100.000000 meters along route # Maximum depth: 1747.782928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1686.327739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695446; longitude = -122.069255; duration = 200; initialDepth = 1692.686648; finalDepth = 1686.327739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.455189 # Actual altitude: 61.455189 # Commanded vehicle depth: 1686.327739 # Seafloor depth: -1747.782928 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.44; 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 8 # Segment length 100.134752 meters # Minimum depth: 1742.686648 meters looking forward 100.000000 meters along route # Maximum depth: 1748.557277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1692.686648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695418; longitude = -122.068136; duration = 200; initialDepth = 1695.546454; finalDepth = 1692.686648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.455189 # Actual altitude: 61.455189 # Commanded vehicle depth: 1692.686648 # Seafloor depth: -1743.487776 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.44; 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 8 # Segment length 100.134809 meters # Minimum depth: 1745.546454 meters looking forward 100.000000 meters along route # Maximum depth: 1748.544545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1695.546454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695390; longitude = -122.067015; duration = 200; initialDepth = 1695.374144; finalDepth = 1695.546454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7799399999999 # Actual altitude: 52.7799399999999 # Commanded vehicle depth: 1695.546454 # Seafloor depth: -1748.326394 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.134867 meters # Minimum depth: 1745.374144 meters looking forward 100.000000 meters along route # Maximum depth: 1750.860635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1695.374144 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695362; longitude = -122.065895; duration = 200; initialDepth = 1688.809054; finalDepth = 1695.374144; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.7799399999999 # Actual altitude: 52.7799399999999 # Commanded vehicle depth: 1695.374144 # Seafloor depth: -1747.364704 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.134923 meters # Minimum depth: 1738.809054 meters looking forward 100.000000 meters along route # Maximum depth: 1745.846951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1688.809054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695334; longitude = -122.064775; duration = 200; initialDepth = 1683.159392; finalDepth = 1688.809054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0378969999999 # Actual altitude: 57.0378969999999 # Commanded vehicle depth: 1688.809054 # Seafloor depth: -1745.846951 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.11; 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 8 # Segment length 100.134981 meters # Minimum depth: 1733.159392 meters looking forward 100.000000 meters along route # Maximum depth: 1740.547520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1683.159392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695306; longitude = -122.063654; duration = 200; initialDepth = 1680.081499; finalDepth = 1683.159392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0378969999999 # Actual altitude: 57.0378969999999 # Commanded vehicle depth: 1683.159392 # Seafloor depth: -1738.117504 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.11; 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 8 # Segment length 100.135037 meters # Minimum depth: 1730.081499 meters looking forward 100.000000 meters along route # Maximum depth: 1734.610855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1680.081499 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695277; longitude = -122.062534; duration = 200; initialDepth = 1674.451239; finalDepth = 1680.081499; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.958112 # Actual altitude: 54.958112 # Commanded vehicle depth: 1680.081499 # Seafloor depth: -1732.815304 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135095 meters # Minimum depth: 1724.451239 meters looking forward 100.000000 meters along route # Maximum depth: 1731.088891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1674.451239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695249; longitude = -122.061414; duration = 200; initialDepth = 1663.509501; finalDepth = 1674.451239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.6376520000001 # Actual altitude: 56.6376520000001 # Commanded vehicle depth: 1674.451239 # Seafloor depth: -1731.088891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.135153 meters # Minimum depth: 1713.509501 meters looking forward 100.000000 meters along route # Maximum depth: 1722.623108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1663.509501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695221; longitude = -122.060293; duration = 200; initialDepth = 1655.555616; finalDepth = 1663.509501; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.113607 # Actual altitude: 59.113607 # Commanded vehicle depth: 1663.509501 # Seafloor depth: -1722.623108 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135209 meters # Minimum depth: 1705.555616 meters looking forward 100.000000 meters along route # Maximum depth: 1712.829439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1655.555616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695193; longitude = -122.059173; duration = 200; initialDepth = 1646.184556; finalDepth = 1655.555616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.113607 # Actual altitude: 59.113607 # Commanded vehicle depth: 1655.555616 # Seafloor depth: -1712.829439 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135267 meters # Minimum depth: 1696.184556 meters looking forward 100.000000 meters along route # Maximum depth: 1705.902054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1646.184556 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695165; longitude = -122.058053; duration = 200; initialDepth = 1641.363626; finalDepth = 1646.184556; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2423240000001 # Actual altitude: 59.2423240000001 # Commanded vehicle depth: 1646.184556 # Seafloor depth: -1705.426880 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.77; 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 8 # Segment length 100.135324 meters # Minimum depth: 1691.363626 meters looking forward 100.000000 meters along route # Maximum depth: 1696.806443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1641.363626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695137; longitude = -122.056933; duration = 200; initialDepth = 1641.489952; finalDepth = 1641.363626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.2423240000001 # Actual altitude: 59.2423240000001 # Commanded vehicle depth: 1641.363626 # Seafloor depth: -1694.763190 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.77; 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 8 # Segment length 100.135381 meters # Minimum depth: 1691.489952 meters looking forward 100.000000 meters along route # Maximum depth: 1694.966806 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1641.489952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695108; longitude = -122.055812; duration = 200; initialDepth = 1636.123858; finalDepth = 1641.489952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3995639999998 # Actual altitude: 53.3995639999998 # Commanded vehicle depth: 1641.489952 # Seafloor depth: -1694.206946 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135439 meters # Minimum depth: 1686.123858 meters looking forward 100.000000 meters along route # Maximum depth: 1691.140525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1636.123858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695080; longitude = -122.054692; duration = 200; initialDepth = 1622.741381; finalDepth = 1636.123858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8506190000001 # Actual altitude: 53.8506190000001 # Commanded vehicle depth: 1636.123858 # Seafloor depth: -1689.974477 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135496 meters # Minimum depth: 1672.741381 meters looking forward 100.000000 meters along route # Maximum depth: 1682.575277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1622.741381 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695052; longitude = -122.053572; duration = 200; initialDepth = 1619.737482; finalDepth = 1622.741381; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8338959999999 # Actual altitude: 59.8338959999999 # Commanded vehicle depth: 1622.741381 # Seafloor depth: -1682.575277 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.135554 meters # Minimum depth: 1669.737482 meters looking forward 100.000000 meters along route # Maximum depth: 1677.886514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1619.737482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695024; longitude = -122.052451; duration = 200; initialDepth = 1617.749642; finalDepth = 1619.737482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8338959999999 # Actual altitude: 59.8338959999999 # Commanded vehicle depth: 1619.737482 # Seafloor depth: -1677.886514 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 100.135611 meters # Minimum depth: 1667.749642 meters looking forward 100.000000 meters along route # Maximum depth: 1672.861117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1617.749642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694996; longitude = -122.051331; duration = 200; initialDepth = 1614.676443; finalDepth = 1617.749642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.149032 # Actual altitude: 58.149032 # Commanded vehicle depth: 1617.749642 # Seafloor depth: -1672.637623 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135668 meters # Minimum depth: 1664.676443 meters looking forward 100.000000 meters along route # Maximum depth: 1669.886156 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1614.676443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694968; longitude = -122.050211; duration = 200; initialDepth = 1608.084052; finalDepth = 1614.676443; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.8879810000001 # Actual altitude: 54.8879810000001 # Commanded vehicle depth: 1614.676443 # Seafloor depth: -1667.694606 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135726 meters # Minimum depth: 1658.084052 meters looking forward 100.000000 meters along route # Maximum depth: 1667.701732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1608.084052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694939; longitude = -122.049090; duration = 200; initialDepth = 1602.267533; finalDepth = 1608.084052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8340420000002 # Actual altitude: 56.8340420000002 # Commanded vehicle depth: 1608.084052 # Seafloor depth: -1664.918094 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135783 meters # Minimum depth: 1652.267533 meters looking forward 100.000000 meters along route # Maximum depth: 1658.161255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1602.267533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694911; longitude = -122.047970; duration = 200; initialDepth = 1591.023811; finalDepth = 1602.267533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8340420000002 # Actual altitude: 56.8340420000002 # Commanded vehicle depth: 1602.267533 # Seafloor depth: -1657.861947 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135841 meters # Minimum depth: 1641.023811 meters looking forward 100.000000 meters along route # Maximum depth: 1652.240929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1591.023811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694883; longitude = -122.046850; duration = 200; initialDepth = 1595.477311; finalDepth = 1591.023811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.509096 # Actual altitude: 59.509096 # Commanded vehicle depth: 1591.023811 # Seafloor depth: -1650.532907 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135899 meters # Minimum depth: 1645.477311 meters looking forward 100.000000 meters along route # Maximum depth: 1651.210442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1595.477311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694855; longitude = -122.045729; duration = 200; initialDepth = 1589.947220; finalDepth = 1595.477311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.509096 # Actual altitude: 59.509096 # Commanded vehicle depth: 1595.477311 # Seafloor depth: -1649.538359 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.135956 meters # Minimum depth: 1639.947220 meters looking forward 100.000000 meters along route # Maximum depth: 1646.270446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1589.947220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694827; longitude = -122.044609; duration = 200; initialDepth = 1581.572974; finalDepth = 1589.947220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.323226 # Actual altitude: 56.323226 # Commanded vehicle depth: 1589.94722 # Seafloor depth: -1646.270446 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136014 meters # Minimum depth: 1631.572974 meters looking forward 100.000000 meters along route # Maximum depth: 1640.844519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1581.572974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694799; longitude = -122.043489; duration = 200; initialDepth = 1574.142742; finalDepth = 1581.572974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.942401 # Actual altitude: 58.942401 # Commanded vehicle depth: 1581.572974 # Seafloor depth: -1640.515375 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136071 meters # Minimum depth: 1624.142742 meters looking forward 100.000000 meters along route # Maximum depth: 1630.909158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1574.142742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694770; longitude = -122.042368; duration = 200; initialDepth = 1572.652741; finalDepth = 1574.142742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.942401 # Actual altitude: 58.942401 # Commanded vehicle depth: 1574.142742 # Seafloor depth: -1630.469790 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136129 meters # Minimum depth: 1622.652741 meters looking forward 100.000000 meters along route # Maximum depth: 1626.033760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1572.652741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694742; longitude = -122.041248; duration = 200; initialDepth = 1569.176849; finalDepth = 1572.652741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3270480000001 # Actual altitude: 56.3270480000001 # Commanded vehicle depth: 1572.652741 # Seafloor depth: -1626.033760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136187 meters # Minimum depth: 1619.176849 meters looking forward 100.000000 meters along route # Maximum depth: 1622.073573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1569.176849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694714; longitude = -122.040128; duration = 200; initialDepth = 1563.524551; finalDepth = 1569.176849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.3810189999999 # Actual altitude: 53.3810189999999 # Commanded vehicle depth: 1569.176849 # Seafloor depth: -1621.870552 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136244 meters # Minimum depth: 1613.524551 meters looking forward 100.000000 meters along route # Maximum depth: 1620.519294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1563.524551 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694686; longitude = -122.039008; duration = 200; initialDepth = 1553.066865; finalDepth = 1563.524551; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.1804360000001 # Actual altitude: 56.1804360000001 # Commanded vehicle depth: 1563.524551 # Seafloor depth: -1619.704987 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.85; 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 8 # Segment length 100.136302 meters # Minimum depth: 1603.066865 meters looking forward 100.000000 meters along route # Maximum depth: 1617.559481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1553.066865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694658; longitude = -122.037887; duration = 200; initialDepth = 1546.689088; finalDepth = 1553.066865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4157359999999 # Actual altitude: 60.4157359999999 # Commanded vehicle depth: 1553.066865 # Seafloor depth: -1613.482601 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136360 meters # Minimum depth: 1596.689088 meters looking forward 100.000000 meters along route # Maximum depth: 1611.075420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1546.689088 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694630; longitude = -122.036767; duration = 200; initialDepth = 1530.612887; finalDepth = 1546.689088; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4157359999999 # Actual altitude: 60.4157359999999 # Commanded vehicle depth: 1546.689088 # Seafloor depth: -1604.516719 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136418 meters # Minimum depth: 1580.612887 meters looking forward 100.000000 meters along route # Maximum depth: 1598.671978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1530.612887 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694601; longitude = -122.035647; duration = 200; initialDepth = 1506.196277; finalDepth = 1530.612887; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.2755649999999 # Actual altitude: 66.2755649999999 # Commanded vehicle depth: 1530.612887 # Seafloor depth: -1596.888452 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 8 # Segment length 100.136475 meters # Minimum depth: 1556.196277 meters looking forward 100.000000 meters along route # Maximum depth: 1579.897682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1506.196277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694573; longitude = -122.034526; duration = 200; initialDepth = 1492.582181; finalDepth = 1506.196277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.701405 # Actual altitude: 73.701405 # Commanded vehicle depth: 1506.196277 # Seafloor depth: -1579.897682 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.11; 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 8 # Segment length 106.805809 meters # Minimum depth: 1542.582181 meters looking forward 100.000000 meters along route # Maximum depth: 1559.434991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1492.582181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694545; longitude = -122.033406; duration = 213; initialDepth = 1490.150696; finalDepth = 1492.582181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.701405 # Actual altitude: 73.701405 # Commanded vehicle depth: 1492.582181 # Seafloor depth: -1555.974139 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.11; 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 to get to end of line 7 # Segment length 149.952669 meters # Minimum depth: 1540.150696 meters looking forward 100.000000 meters along route # Maximum depth: 1546.010164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1490.150696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.694515; longitude = -122.032211; duration = 299; # abortOnTimeout = True; initialDepth = 1479.946597; finalDepth = 1490.150696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3919579999999 # Actual altitude: 63.3919579999999 # Commanded vehicle depth: 1490.150696 # Seafloor depth: -1540.150696 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 7 # Segment length 102.225449 meters # Minimum depth: 1529.946597 meters looking forward 100.000000 meters along route # Maximum depth: 1544.860812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1479.946597 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695176; longitude = -122.030747; duration = 204; initialDepth = 1491.699383; finalDepth = 1479.946597; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7823679999999 # Actual altitude: 60.7823679999999 # Commanded vehicle depth: 1479.946597 # Seafloor depth: -1540.728965 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.23; 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 7 # Segment length 102.225017 meters # Minimum depth: 1541.699383 meters looking forward 100.000000 meters along route # Maximum depth: 1555.613010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1491.699383 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.695627; longitude = -122.029749; duration = 204; initialDepth = 1505.345232; finalDepth = 1491.699383; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.7823679999999 # Actual altitude: 60.7823679999999 # Commanded vehicle depth: 1491.699383 # Seafloor depth: -1541.699383 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.23; 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 7 # Segment length 102.224583 meters # Minimum depth: 1555.345232 meters looking forward 100.000000 meters along route # Maximum depth: 1561.278302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1505.345232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696077; longitude = -122.028751; duration = 204; initialDepth = 1501.231614; finalDepth = 1505.345232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.1438460000002 # Actual altitude: 51.1438460000002 # Commanded vehicle depth: 1505.345232 # Seafloor depth: -1556.489078 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.34; 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 7 # Segment length 102.224151 meters # Minimum depth: 1551.231614 meters looking forward 100.000000 meters along route # Maximum depth: 1560.282635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1501.231614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696528; longitude = -122.027753; duration = 204; initialDepth = 1488.284150; finalDepth = 1501.231614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.051021 # Actual altitude: 59.051021 # Commanded vehicle depth: 1501.231614 # Seafloor depth: -1560.282635 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.72; 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 102.223718 meters # Minimum depth: 1538.284150 meters looking forward 100.000000 meters along route # Maximum depth: 1554.299978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1488.284150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.696978; longitude = -122.026755; duration = 204; initialDepth = 1485.088706; finalDepth = 1488.284150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0158280000001 # Actual altitude: 66.0158280000001 # Commanded vehicle depth: 1488.28415 # Seafloor depth: -1554.299978 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.80; 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 7 # Segment length 102.223286 meters # Minimum depth: 1535.088706 meters looking forward 100.000000 meters along route # Maximum depth: 1546.166256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1485.088706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697429; longitude = -122.025756; duration = 204; initialDepth = 1483.327294; finalDepth = 1485.088706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0158280000001 # Actual altitude: 66.0158280000001 # Commanded vehicle depth: 1485.088706 # Seafloor depth: -1536.448912 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.80; 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 7 # Segment length 102.222853 meters # Minimum depth: 1533.327294 meters looking forward 100.000000 meters along route # Maximum depth: 1547.513574 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1483.327294 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.697880; longitude = -122.024758; duration = 204; initialDepth = 1455.841006; finalDepth = 1483.327294; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.7479070000002 # Actual altitude: 59.7479070000002 # Commanded vehicle depth: 1483.327294 # Seafloor depth: -1543.075201 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 7 # Segment length 102.222420 meters # Minimum depth: 1505.841006 meters looking forward 100.000000 meters along route # Maximum depth: 1532.967294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1455.841006 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698330; longitude = -122.023760; duration = 204; initialDepth = 1442.232099; finalDepth = 1455.841006; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1262879999999 # Actual altitude: 77.1262879999999 # Commanded vehicle depth: 1455.841006 # Seafloor depth: -1532.967294 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.14; 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 7 # Segment length 103.181724 meters # Minimum depth: 1492.232099 meters looking forward 100.000000 meters along route # Maximum depth: 1523.076508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1442.232099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.698781; longitude = -122.022762; duration = 206; initialDepth = 1429.809901; finalDepth = 1442.232099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.1262879999999 # Actual altitude: 77.1262879999999 # Commanded vehicle depth: 1442.232099 # Seafloor depth: -1505.792120 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.14; 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 7 # Segment length 103.264624 meters # Minimum depth: 1479.809901 meters looking forward 100.000000 meters along route # Maximum depth: 1493.023813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1429.809901 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699236; longitude = -122.021755; duration = 206; initialDepth = 1407.721546; finalDepth = 1429.809901; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.560021 # Actual altitude: 63.560021 # Commanded vehicle depth: 1429.809901 # Seafloor depth: -1492.401517 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.07; 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 7 # Segment length 107.062470 meters # Minimum depth: 1457.721546 meters looking forward 100.000000 meters along route # Maximum depth: 1494.975096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1407.721546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.699691; longitude = -122.020746; duration = 214; initialDepth = 1398.017984; finalDepth = 1407.721546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.3495640000001 # Actual altitude: 73.3495640000001 # Commanded vehicle depth: 1407.721546 # Seafloor depth: -1481.071110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 6 # Segment length 116.362249 meters # Minimum depth: 1448.017984 meters looking forward 100.000000 meters along route # Maximum depth: 1462.189542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1398.017984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700163; longitude = -122.019701; duration = 232; # abortOnTimeout = True; initialDepth = 1404.948920; finalDepth = 1398.017984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.3495640000001 # Actual altitude: 73.3495640000001 # Commanded vehicle depth: 1398.017984 # Seafloor depth: -1453.993530 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 6 # Segment length 107.428708 meters # Minimum depth: 1454.948920 meters looking forward 100.000000 meters along route # Maximum depth: 1468.177794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1404.948920 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.700944; longitude = -122.018831; duration = 214; initialDepth = 1412.899206; finalDepth = 1404.948920; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.402149 # Actual altitude: 56.402149 # Commanded vehicle depth: 1404.94892 # Seafloor depth: -1461.351069 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 6 # Segment length 101.060438 meters # Minimum depth: 1462.899206 meters looking forward 100.000000 meters along route # Maximum depth: 1472.518966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1412.899206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.701665; longitude = -122.018029; duration = 202; initialDepth = 1417.495074; finalDepth = 1412.899206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.402149 # Actual altitude: 56.402149 # Commanded vehicle depth: 1412.899206 # Seafloor depth: -1467.577867 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 6 # Segment length 104.940058 meters # Minimum depth: 1467.495074 meters looking forward 100.000000 meters along route # Maximum depth: 1476.083346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1417.495074 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.702343; longitude = -122.017273; duration = 209; initialDepth = 1392.611737; finalDepth = 1417.495074; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.6786609999999 # Actual altitude: 54.6786609999999 # Commanded vehicle depth: 1417.495074 # Seafloor depth: -1470.395930 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.40; 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 6 # Segment length 104.939654 meters # Minimum depth: 1442.611737 meters looking forward 100.000000 meters along route # Maximum depth: 1469.307179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1392.611737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703047; longitude = -122.016489; duration = 209; initialDepth = 1376.095389; finalDepth = 1392.611737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.695442 # Actual altitude: 76.695442 # Commanded vehicle depth: 1392.611737 # Seafloor depth: -1469.307179 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.01; 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 6 # Segment length 105.342092 meters # Minimum depth: 1426.095389 meters looking forward 100.000000 meters along route # Maximum depth: 1450.252508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1376.095389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.703752; longitude = -122.015705; duration = 210; initialDepth = 1348.792568; finalDepth = 1376.095389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.695442 # Actual altitude: 76.695442 # Commanded vehicle depth: 1376.095389 # Seafloor depth: -1449.584720 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.01; 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 6 # Segment length 107.426643 meters # Minimum depth: 1398.792568 meters looking forward 100.000000 meters along route # Maximum depth: 1425.759931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1348.792568 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.704459; longitude = -122.014918; duration = 214; initialDepth = 1341.520086; finalDepth = 1348.792568; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.967363 # Actual altitude: 76.967363 # Commanded vehicle depth: 1348.792568 # Seafloor depth: -1425.759931 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.09; 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 6 # Segment length 102.047803 meters # Minimum depth: 1391.520086 meters looking forward 100.000000 meters along route # Maximum depth: 1400.978822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1341.520086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705180; longitude = -122.014115; duration = 204; initialDepth = 1294.488174; finalDepth = 1341.520086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.967363 # Actual altitude: 76.967363 # Commanded vehicle depth: 1341.520086 # Seafloor depth: -1398.721035 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.09; 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 6 # Segment length 104.938038 meters # Minimum depth: 1344.488174 meters looking forward 100.000000 meters along route # Maximum depth: 1382.483535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1294.488174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.705865; longitude = -122.013352; duration = 209; initialDepth = 1279.274087; finalDepth = 1294.488174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.995361 # Actual altitude: 87.995361 # Commanded vehicle depth: 1294.488174 # Seafloor depth: -1382.483535 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.40; 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 6 # Segment length 101.863400 meters # Minimum depth: 1329.274087 meters looking forward 100.000000 meters along route # Maximum depth: 1347.155758 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1279.274087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.706569; longitude = -122.012568; duration = 203; initialDepth = 1276.501444; finalDepth = 1279.274087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.995361 # Actual altitude: 87.995361 # Commanded vehicle depth: 1279.274087 # Seafloor depth: -1344.543902 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.40; 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 6 # Segment length 103.010961 meters # Minimum depth: 1326.501444 meters looking forward 100.000000 meters along route # Maximum depth: 1337.170803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1276.501444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707253; longitude = -122.011807; duration = 206; initialDepth = 1279.171082; finalDepth = 1276.501444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.2698149999999 # Actual altitude: 65.2698149999999 # Commanded vehicle depth: 1276.501444 # Seafloor depth: -1330.449846 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 5 # Segment length 135.306852 meters # Minimum depth: 1329.171082 meters looking forward 100.000000 meters along route # Maximum depth: 1346.296501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1279.171082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.707944; longitude = -122.011037; duration = 270; # abortOnTimeout = True; initialDepth = 1291.458797; finalDepth = 1279.171082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.948402 # Actual altitude: 53.948402 # Commanded vehicle depth: 1279.171082 # Seafloor depth: -1329.171082 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 101.515269 meters # Minimum depth: 1341.458797 meters looking forward 100.000000 meters along route # Maximum depth: 1353.640269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1291.458797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.709145; longitude = -122.010775; duration = 203; initialDepth = 1300.115012; finalDepth = 1291.458797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3300919999999 # Actual altitude: 52.3300919999999 # Commanded vehicle depth: 1291.458797 # Seafloor depth: -1343.788889 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.70; 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 5 # Segment length 101.515252 meters # Minimum depth: 1350.115012 meters looking forward 100.000000 meters along route # Maximum depth: 1369.823283 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1300.115012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710046; longitude = -122.010578; duration = 203; initialDepth = 1306.396469; finalDepth = 1300.115012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.3300919999999 # Actual altitude: 52.3300919999999 # Commanded vehicle depth: 1300.115012 # Seafloor depth: -1351.871648 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.70; 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 5 # Segment length 101.515234 meters # Minimum depth: 1356.396469 meters looking forward 100.000000 meters along route # Maximum depth: 1377.370227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1306.396469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.710948; longitude = -122.010381; duration = 203; initialDepth = 1317.588301; finalDepth = 1306.396469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.029454 # Actual altitude: 56.029454 # Commanded vehicle depth: 1306.396469 # Seafloor depth: -1362.425923 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 5 # Segment length 101.515218 meters # Minimum depth: 1367.588301 meters looking forward 100.000000 meters along route # Maximum depth: 1382.481972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1317.588301 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.711849; longitude = -122.010184; duration = 203; initialDepth = 1307.017855; finalDepth = 1317.588301; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.029454 # Actual altitude: 56.029454 # Commanded vehicle depth: 1317.588301 # Seafloor depth: -1368.756092 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 5 # Segment length 101.515201 meters # Minimum depth: 1357.017855 meters looking forward 100.000000 meters along route # Maximum depth: 1376.132005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1307.017855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.712750; longitude = -122.009988; duration = 203; initialDepth = 1304.660713; finalDepth = 1307.017855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.8991799999999 # Actual altitude: 59.8991799999999 # Commanded vehicle depth: 1307.017855 # Seafloor depth: -1366.917035 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 5 # Segment length 108.309100 meters # Minimum depth: 1354.660713 meters looking forward 100.000000 meters along route # Maximum depth: 1392.843926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1304.660713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.713651; longitude = -122.009791; duration = 216; initialDepth = 1343.949219; finalDepth = 1304.660713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.8991799999999 # Actual altitude: 59.8991799999999 # Commanded vehicle depth: 1304.660713 # Seafloor depth: -1354.660713 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 4 # Segment length 154.748196 meters # Minimum depth: 1393.949219 meters looking forward 100.000000 meters along route # Maximum depth: 1432.883291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1343.949219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.714613; longitude = -122.009581; duration = 309; # abortOnTimeout = True; initialDepth = 1377.988433; finalDepth = 1343.949219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 1343.949219 # Seafloor depth: -1393.949219 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.939738 meters # Minimum depth: 1427.988433 meters looking forward 100.000000 meters along route # Maximum depth: 1436.849975 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1377.988433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.715995; longitude = -122.009819; duration = 201; initialDepth = 1374.547731; finalDepth = 1377.988433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8615420000001 # Actual altitude: 58.8615420000001 # Commanded vehicle depth: 1377.988433 # Seafloor depth: -1436.849975 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 4 # Segment length 100.939727 meters # Minimum depth: 1424.547731 meters looking forward 100.000000 meters along route # Maximum depth: 1431.222725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1374.547731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.716896; longitude = -122.009974; duration = 201; initialDepth = 1368.791684; finalDepth = 1374.547731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8615420000001 # Actual altitude: 58.8615420000001 # Commanded vehicle depth: 1374.547731 # Seafloor depth: -1429.773851 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 4 # Segment length 104.255750 meters # Minimum depth: 1418.791684 meters looking forward 100.000000 meters along route # Maximum depth: 1424.564378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1368.791684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.717797; longitude = -122.010130; duration = 208; initialDepth = 1365.520020; finalDepth = 1368.791684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.4187449999999 # Actual altitude: 55.4187449999999 # Commanded vehicle depth: 1368.791684 # Seafloor depth: -1424.210429 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; 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 to get to end of line 3 # Segment length 101.536088 meters # Minimum depth: 1415.520020 meters looking forward 100.000000 meters along route # Maximum depth: 1423.347667 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1365.520020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.718728; longitude = -122.010290; duration = 203; # abortOnTimeout = True; initialDepth = 1359.927298; finalDepth = 1365.520020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4187449999999 # Actual altitude: 55.4187449999999 # Commanded vehicle depth: 1365.52002 # Seafloor depth: -1418.470581 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; 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 3 # Segment length 106.254278 meters # Minimum depth: 1409.927298 meters looking forward 100.000000 meters along route # Maximum depth: 1422.715949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1359.927298 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.719600; longitude = -122.010637; duration = 212; initialDepth = 1356.116975; finalDepth = 1359.927298; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.567121 # Actual altitude: 55.567121 # Commanded vehicle depth: 1359.927298 # Seafloor depth: -1415.494419 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 3 # Segment length 103.715437 meters # Minimum depth: 1406.116975 meters looking forward 100.000000 meters along route # Maximum depth: 1412.045173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1356.116975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.720512; longitude = -122.011000; duration = 207; initialDepth = 1341.105752; finalDepth = 1356.116975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.567121 # Actual altitude: 55.567121 # Commanded vehicle depth: 1356.116975 # Seafloor depth: -1409.799478 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 3 # Segment length 104.984696 meters # Minimum depth: 1391.105752 meters looking forward 100.000000 meters along route # Maximum depth: 1412.163215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1341.105752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.721402; longitude = -122.011354; duration = 209; initialDepth = 1344.609464; finalDepth = 1341.105752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2792750000001 # Actual altitude: 65.2792750000001 # Commanded vehicle depth: 1341.105752 # Seafloor depth: -1406.385027 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 3 # Segment length 108.526131 meters # Minimum depth: 1394.609464 meters looking forward 100.000000 meters along route # Maximum depth: 1407.137882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1344.609464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.722303; longitude = -122.011712; duration = 217; initialDepth = 1329.303267; finalDepth = 1344.609464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.2792750000001 # Actual altitude: 65.2792750000001 # Commanded vehicle depth: 1344.609464 # Seafloor depth: -1401.378001 # 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 = 25; 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; } # ####################################################### # # 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 124.516597 meters # Minimum depth: 1379.303267 meters looking forward 100.000000 meters along route # Maximum depth: 1406.914703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1329.303267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.723235; longitude = -122.012083; duration = 249; # abortOnTimeout = True; initialDepth = 1303.736453; finalDepth = 1329.303267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6114359999999 # Actual altitude: 77.6114359999999 # Commanded vehicle depth: 1329.303267 # Seafloor depth: -1406.914703 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.28; 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 2 # Segment length 100.529365 meters # Minimum depth: 1353.736453 meters looking forward 100.000000 meters along route # Maximum depth: 1377.302230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1303.736453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724040; longitude = -122.011112; duration = 201; initialDepth = 1286.775522; finalDepth = 1303.736453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.6114359999999 # Actual altitude: 77.6114359999999 # Commanded vehicle depth: 1303.736453 # Seafloor depth: -1377.302230 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.28; 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 2 # Segment length 100.528975 meters # Minimum depth: 1336.775522 meters looking forward 100.000000 meters along route # Maximum depth: 1350.698496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1286.775522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.724690; longitude = -122.010327; duration = 201; initialDepth = 1283.329287; finalDepth = 1286.775522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.565777 # Actual altitude: 73.565777 # Commanded vehicle depth: 1286.775522 # Seafloor depth: -1350.698496 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.07; 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 2 # Segment length 100.528585 meters # Minimum depth: 1333.329287 meters looking forward 100.000000 meters along route # Maximum depth: 1340.746274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1283.329287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725340; longitude = -122.009543; duration = 201; initialDepth = 1263.440242; finalDepth = 1283.329287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.9229740000001 # Actual altitude: 63.9229740000001 # Commanded vehicle depth: 1283.329287 # Seafloor depth: -1337.228475 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 2 # Segment length 100.528195 meters # Minimum depth: 1313.440242 meters looking forward 100.000000 meters along route # Maximum depth: 1333.175540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1263.440242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.725990; longitude = -122.008759; duration = 201; initialDepth = 1232.976535; finalDepth = 1263.440242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7352980000001 # Actual altitude: 69.7352980000001 # Commanded vehicle depth: 1263.440242 # Seafloor depth: -1333.175540 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.92; 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 2 # Segment length 100.527804 meters # Minimum depth: 1282.976535 meters looking forward 100.000000 meters along route # Maximum depth: 1314.312921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1232.976535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.726641; longitude = -122.007975; duration = 201; initialDepth = 1205.039990; finalDepth = 1232.976535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.078696 # Actual altitude: 80.078696 # Commanded vehicle depth: 1232.976535 # Seafloor depth: -1313.055231 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.02; 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 2 # Segment length 100.527413 meters # Minimum depth: 1255.039990 meters looking forward 100.000000 meters along route # Maximum depth: 1283.052595 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1205.039990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727291; longitude = -122.007191; duration = 201; initialDepth = 1152.471204; finalDepth = 1205.039990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.078696 # Actual altitude: 80.078696 # Commanded vehicle depth: 1205.03999 # Seafloor depth: -1283.052595 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.02; 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 2 # Segment length 103.808287 meters # Minimum depth: 1202.471204 meters looking forward 100.000000 meters along route # Maximum depth: 1254.130711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1152.471204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.727941; longitude = -122.006406; duration = 207; initialDepth = 1089.492569; finalDepth = 1152.471204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.659507 # Actual altitude: 100 # Commanded vehicle depth: 1152.471204 # Seafloor depth: -1254.130711 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 2 # Segment length 106.846212 meters # Minimum depth: 1139.492569 meters looking forward 100.000000 meters along route # Maximum depth: 1202.159916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1089.492569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.728612; longitude = -122.005597; duration = 213; initialDepth = 1030.446454; finalDepth = 1089.492569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 112.667347 # Actual altitude: 100 # Commanded vehicle depth: 1089.492569 # Seafloor depth: -1202.159916 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 1 # Segment length 125.148880 meters # Minimum depth: 1080.446454 meters looking forward 100.000000 meters along route # Maximum depth: 1140.500977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1030.446454 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729303; longitude = -122.004763; duration = 250; # abortOnTimeout = True; initialDepth = 975.314106; finalDepth = 1030.446454; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 112.667347 # Actual altitude: 100 # Commanded vehicle depth: 1030.446454 # Seafloor depth: -1140.500977 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 101.487282 meters # Minimum depth: 1025.314106 meters looking forward 100.000000 meters along route # Maximum depth: 1078.726005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 975.314106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729493; longitude = -122.003381; duration = 202; initialDepth = 908.478034; finalDepth = 975.314106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 110.054523 # Actual altitude: 100 # Commanded vehicle depth: 975.314106 # Seafloor depth: -1078.726005 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 101.487107 meters # Minimum depth: 958.478034 meters looking forward 100.000000 meters along route # Maximum depth: 1022.504303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 908.478034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729646; longitude = -122.002261; duration = 202; initialDepth = 818.501625; finalDepth = 908.478034; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.026269 # Actual altitude: 100 # Commanded vehicle depth: 908.478034 # Seafloor depth: -1022.504303 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 101.486934 meters # Minimum depth: 868.501625 meters looking forward 100.000000 meters along route # Maximum depth: 954.824284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 818.501625 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729800; longitude = -122.001141; duration = 202; initialDepth = 727.412139; finalDepth = 818.501625; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 136.322659 # Actual altitude: 100 # Commanded vehicle depth: 818.501625 # Seafloor depth: -954.824284 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 101.486759 meters # Minimum depth: 777.412139 meters looking forward 100.000000 meters along route # Maximum depth: 853.802495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 727.412139 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.729954; longitude = -122.000021; duration = 202; initialDepth = 687.589513; finalDepth = 727.412139; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 136.322659 # Actual altitude: 100 # Commanded vehicle depth: 727.412139 # Seafloor depth: -853.802495 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 101.486585 meters # Minimum depth: 737.589513 meters looking forward 100.000000 meters along route # Maximum depth: 768.063535 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 687.589513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730108; longitude = -121.998900; duration = 202; initialDepth = 670.492663; finalDepth = 687.589513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 126.390356 # Actual altitude: 100 # Commanded vehicle depth: 687.589513 # Seafloor depth: -768.063535 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 101.486410 meters # Minimum depth: 720.492663 meters looking forward 100.000000 meters along route # Maximum depth: 735.552646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 670.492663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730262; longitude = -121.997780; duration = 202; initialDepth = 657.745995; finalDepth = 670.492663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.474022 # Actual altitude: 80.474022 # Commanded vehicle depth: 670.492663 # Seafloor depth: -735.552646 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.14; 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 101.486236 meters # Minimum depth: 707.745995 meters looking forward 100.000000 meters along route # Maximum depth: 720.405031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 657.745995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730415; longitude = -121.996660; duration = 202; initialDepth = 641.700861; finalDepth = 657.745995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.059983 # Actual altitude: 65.059983 # Commanded vehicle depth: 657.745995 # Seafloor depth: -720.405031 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.52; 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 1 # Segment length 101.486062 meters # Minimum depth: 691.700861 meters looking forward 100.000000 meters along route # Maximum depth: 708.607652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 641.700861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730569; longitude = -121.995539; duration = 202; initialDepth = 630.045342; finalDepth = 641.700861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.572087 # Actual altitude: 64.572087 # Commanded vehicle depth: 641.700861 # Seafloor depth: -706.272948 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.37; 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 1 # Segment length 101.485888 meters # Minimum depth: 680.045342 meters looking forward 100.000000 meters along route # Maximum depth: 691.414327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 630.045342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730723; longitude = -121.994419; duration = 202; initialDepth = 612.228440; finalDepth = 630.045342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.572087 # Actual altitude: 64.572087 # Commanded vehicle depth: 630.045342 # Seafloor depth: -691.414327 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.37; 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 1 # Segment length 101.485714 meters # Minimum depth: 662.228440 meters looking forward 100.000000 meters along route # Maximum depth: 678.866700 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 612.228440 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.730877; longitude = -121.993299; duration = 202; initialDepth = 587.108124; finalDepth = 612.228440; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.6382600000001 # Actual altitude: 66.6382600000001 # Commanded vehicle depth: 612.22844 # Seafloor depth: -678.866700 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 101.485540 meters # Minimum depth: 637.108124 meters looking forward 100.000000 meters along route # Maximum depth: 662.056451 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 587.108124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731031; longitude = -121.992178; duration = 202; initialDepth = 560.546815; finalDepth = 587.108124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.9483270000001 # Actual altitude: 74.9483270000001 # Commanded vehicle depth: 587.108124 # Seafloor depth: -662.056451 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.48; 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 1 # Segment length 101.485365 meters # Minimum depth: 610.546815 meters looking forward 100.000000 meters along route # Maximum depth: 635.668570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 560.546815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731184; longitude = -121.991058; duration = 202; initialDepth = 539.135748; finalDepth = 560.546815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.121755 # Actual altitude: 75.121755 # Commanded vehicle depth: 560.546815 # Seafloor depth: -635.668570 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.54; 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 101.485192 meters # Minimum depth: 589.135748 meters looking forward 100.000000 meters along route # Maximum depth: 610.501944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 539.135748 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731338; longitude = -121.989938; duration = 202; initialDepth = 500.323706; finalDepth = 539.135748; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.121755 # Actual altitude: 75.121755 # Commanded vehicle depth: 539.135748 # Seafloor depth: -610.501944 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.54; 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 101.485017 meters # Minimum depth: 550.323706 meters looking forward 100.000000 meters along route # Maximum depth: 583.895073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 500.323706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731492; longitude = -121.988817; duration = 202; initialDepth = 491.340015; finalDepth = 500.323706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.571367 # Actual altitude: 83.571367 # Commanded vehicle depth: 500.323706 # Seafloor depth: -583.895073 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.07; 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 1 # Segment length 101.484844 meters # Minimum depth: 541.340015 meters looking forward 100.000000 meters along route # Maximum depth: 565.245903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 491.340015 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731646; longitude = -121.987697; duration = 202; initialDepth = 469.959557; finalDepth = 491.340015; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.571367 # Actual altitude: 83.571367 # Commanded vehicle depth: 491.340015 # Seafloor depth: -562.939218 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.07; 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 1 # Segment length 101.484669 meters # Minimum depth: 519.959557 meters looking forward 100.000000 meters along route # Maximum depth: 541.895284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 469.959557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731799; longitude = -121.986577; duration = 202; initialDepth = 437.604683; finalDepth = 469.959557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.9357269999999 # Actual altitude: 71.9357269999999 # Commanded vehicle depth: 469.959557 # Seafloor depth: -541.895284 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 1 # Segment length 101.484495 meters # Minimum depth: 487.604683 meters looking forward 100.000000 meters along route # Maximum depth: 515.926672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 437.604683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731953; longitude = -121.985456; duration = 202; initialDepth = 416.331738; finalDepth = 437.604683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.321989 # Actual altitude: 78.321989 # Commanded vehicle depth: 437.604683 # Seafloor depth: -515.926672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.50; 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 101.484322 meters # Minimum depth: 466.331738 meters looking forward 100.000000 meters along route # Maximum depth: 485.734855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 416.331738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732107; longitude = -121.984336; duration = 202; initialDepth = 390.415716; finalDepth = 416.331738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.321989 # Actual altitude: 78.321989 # Commanded vehicle depth: 416.331738 # Seafloor depth: -485.734855 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.50; 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 101.484147 meters # Minimum depth: 440.415716 meters looking forward 100.000000 meters along route # Maximum depth: 463.654682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 390.415716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732261; longitude = -121.983216; duration = 202; initialDepth = 357.772107; finalDepth = 390.415716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.238966 # Actual altitude: 73.238966 # Commanded vehicle depth: 390.415716 # Seafloor depth: -463.654682 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.97; 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 1 # Segment length 101.483974 meters # Minimum depth: 407.772107 meters looking forward 100.000000 meters along route # Maximum depth: 437.551470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 357.772107 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732415; longitude = -121.982096; duration = 202; initialDepth = 323.094026; finalDepth = 357.772107; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.779363 # Actual altitude: 79.779363 # Commanded vehicle depth: 357.772107 # Seafloor depth: -437.551470 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 1 # Segment length 101.483800 meters # Minimum depth: 373.094026 meters looking forward 100.000000 meters along route # Maximum depth: 405.983547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 323.094026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732568; longitude = -121.980975; duration = 202; initialDepth = 285.000430; finalDepth = 323.094026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.889521 # Actual altitude: 82.889521 # Commanded vehicle depth: 323.094026 # Seafloor depth: -405.983547 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.87; 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 1 # Segment length 101.483626 meters # Minimum depth: 335.000430 meters looking forward 100.000000 meters along route # Maximum depth: 367.923841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 285.000430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732722; longitude = -121.979855; duration = 202; initialDepth = 244.303811; finalDepth = 285.000430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.923411 # Actual altitude: 82.923411 # Commanded vehicle depth: 285.00043 # Seafloor depth: -367.923841 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.88; 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 1 # Segment length 101.483452 meters # Minimum depth: 294.303811 meters looking forward 100.000000 meters along route # Maximum depth: 331.286858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 244.303811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732876; longitude = -121.978735; duration = 202; initialDepth = 208.023219; finalDepth = 244.303811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.983047 # Actual altitude: 86.983047 # Commanded vehicle depth: 244.303811 # Seafloor depth: -331.286858 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.09; 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 1 # Segment length 101.483278 meters # Minimum depth: 258.023219 meters looking forward 100.000000 meters along route # Maximum depth: 293.876670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 208.023219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733030; longitude = -121.977614; duration = 202; initialDepth = 162.521531; finalDepth = 208.023219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.983047 # Actual altitude: 86.983047 # Commanded vehicle depth: 208.023219 # Seafloor depth: -293.876670 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.09; 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 1 # Segment length 101.483104 meters # Minimum depth: 212.521531 meters looking forward 100.000000 meters along route # Maximum depth: 254.341634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 162.521531 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733184; longitude = -121.976494; duration = 202; initialDepth = 117.599794; finalDepth = 162.521531; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.820103 # Actual altitude: 91.820103 # Commanded vehicle depth: 162.521531 # Seafloor depth: -254.341634 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.55; 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 1 # Segment length 101.482931 meters # Minimum depth: 167.599794 meters looking forward 100.000000 meters along route # Maximum depth: 207.804380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 117.599794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733337; longitude = -121.975374; duration = 202; initialDepth = 94.090508; finalDepth = 117.599794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.820103 # Actual altitude: 91.820103 # Commanded vehicle depth: 117.599794 # Seafloor depth: -207.804380 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.55; 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 1 # Segment length 101.482757 meters # Minimum depth: 144.090508 meters looking forward 100.000000 meters along route # Maximum depth: 166.015639 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.090508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733491; longitude = -121.974253; duration = 202; initialDepth = 80.207654; finalDepth = 94.090508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.204586 # Actual altitude: 90.204586 # Commanded vehicle depth: 94.090508 # Seafloor depth: -166.015639 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.06; 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 108.246301 meters # Minimum depth: 130.207654 meters looking forward 100.000000 meters along route # Maximum depth: 142.110579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 80.207654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733645; longitude = -121.973133; duration = 216; initialDepth = 79.753162; finalDepth = 80.207654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 71.925131 # Actual altitude: 71.925131 # Commanded vehicle depth: 80.207654 # Seafloor depth: -142.110579 # 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 = 25; 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; } # ####################################################### # # 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: 61.902925 # Sonar parameter altitude: 61.902925 # Commanded vehicle depth: 79.753162 # Seafloor depth: -129.753162 # 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 = 25; 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; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # ####################################################### # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 129.753162 meters looking forward 100.000000 meters along route # Maximum depth: 140.674322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 1855.485825 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 79.753162 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.733809; longitude = -121.971938; duration = 600; depth = 79.753162; 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 = 320.0; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 40.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 320.0; 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 = 25; 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; } # ####################################################### ####################################################### ####################################################### #######################################################