# 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: 2015_RockfishHabitat_2v2.rte # Mission File: 2015_RockfishHabitat_2v2.cfg # Distance: 88132.381850 (m) # Estimated Time: 59788 (s) 16.608 (hr) # Abort Time: 66300 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 124 # Route Points: 773 # 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: 20 dB # Multibeam transmit gain: 218 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: 1424.815206 (m) # Abort Vehicle Depth: 1444.815206 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 36.0 (degrees) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.056223 36.797857 -111.917358 0.000000 3 # 1 -122.054057 36.793471 -135.594828 523.553623 1 # 2 -122.053758 36.789025 -205.375511 1017.549052 1 # 3 -122.054543 36.786592 -229.347575 1296.407180 1 # 4 -122.056074 36.777610 -404.280327 2302.174927 3 # 5 -122.071123 36.758834 -968.220779 4780.664973 1 # 6 -122.089944 36.751263 -1205.964874 6659.024565 1 # 7 -122.100027 36.742431 -1361.826233 7989.564822 3 # 8 -122.133823 36.731736 -1335.558075 11232.024863 3 # 9 -122.138305 36.740208 -1258.440735 12253.533810 3 # 10 -122.102455 36.752195 -1328.711639 15719.402712 3 # 11 -122.105741 36.758563 -1136.104126 16484.330659 3 # 12 -122.141666 36.746607 -1203.528595 19954.821174 3 # 13 -122.143832 36.751804 -1260.325684 20562.921639 3 # 14 -122.106525 36.764241 -1006.143295 24167.594695 3 # 15 -122.090841 36.752435 -1222.377563 26084.737259 3 # 16 -122.072542 36.759855 -995.900681 27913.914712 1 # 17 -122.057343 36.778661 -405.170914 30402.464835 3 # 18 -122.059472 36.781996 -402.089706 30818.375992 1 # 19 -122.063020 36.784459 -416.588669 31236.589064 1 # 20 -122.067837 36.791489 -401.059380 32127.089025 1 # 21 -122.070638 36.795274 -449.394936 32615.736993 1 # 22 -122.072580 36.798488 -415.536644 33012.163320 1 # 23 -122.078069 36.801282 -401.203156 33591.724031 1 # 24 -122.081393 36.803745 -399.534721 33994.960635 1 # 25 -122.083521 36.801673 -384.436867 34293.086416 3 # 26 -122.085874 36.801222 -406.616536 34508.888433 1 # 27 -122.088040 36.800651 -445.882487 34712.233210 1 # 28 -122.089048 36.798218 -383.093669 34996.778932 1 # 29 -122.090169 36.795965 -391.538127 35265.978844 1 # 30 -122.092036 36.793201 -391.108317 35614.927004 1 # 31 -122.095733 36.791669 -389.686320 35986.008724 1 # 32 -122.099878 36.791218 -400.071818 36359.226846 1 # 33 -122.104621 36.789566 -399.053996 36820.392976 1 # 34 -122.104845 36.791008 -368.473958 36981.608479 1 # 35 -122.100214 36.792750 -348.921672 37437.758218 1 # 36 -122.095994 36.793261 -342.871012 37818.508433 1 # 37 -122.093417 36.794433 -349.753418 38082.609259 1 # 38 -122.091737 36.796866 -331.193705 38391.403721 1 # 39 -122.090729 36.798669 -307.767334 38610.671048 1 # 40 -122.089235 36.801673 -385.813192 38969.602419 1 # 41 -122.086210 36.802574 -331.365662 39257.385951 1 # 42 -122.084306 36.803295 -293.426254 39445.151439 3 # 43 -122.081617 36.805638 -322.819763 39798.859550 1 # 44 -122.077024 36.802754 -305.292030 40318.723693 1 # 45 -122.071198 36.799780 -320.629112 40934.361646 1 # 46 -122.068546 36.796055 -373.464752 41410.551225 1 # 47 -122.066156 36.792570 -311.105423 41852.081366 1 # 48 -122.061227 36.785721 -305.484085 42730.009907 1 # 49 -122.058128 36.783528 -313.092468 43098.333084 1 # 50 -122.055177 36.779502 -346.998077 43616.826528 3 # 51 -122.054953 36.782026 -305.795334 43897.548834 3 # 52 -122.057007 36.784429 -258.797249 44221.066284 1 # 53 -122.059659 36.786712 -240.153835 44567.691185 1 # 54 -122.064401 36.793351 -226.471539 45417.100247 1 # 55 -122.066829 36.796896 -287.323570 45866.095568 1 # 56 -122.069667 36.800922 -212.303627 46379.512730 1 # 57 -122.075791 36.803926 -170.785267 47019.475412 1 # 58 -122.082102 36.807771 -226.599033 47725.819164 1 # 59 -122.085127 36.804617 -225.809925 48167.693667 3 # 60 -122.086696 36.803715 -248.957336 48339.696310 1 # 61 -122.089795 36.802934 -331.342000 48629.471282 1 # 62 -122.092297 36.799570 -242.558675 49064.390393 1 # 63 -122.093156 36.797617 -276.970093 49294.172644 1 # 64 -122.094500 36.795544 -307.595500 49553.533377 1 # 65 -122.096442 36.794703 -330.400350 49750.322716 1 # 66 -122.100438 36.794102 -318.963338 50113.013241 1 # 67 -122.105143 36.792480 -341.533813 50569.785891 1 # 68 -122.105480 36.794102 -309.101522 50752.234668 1 # 69 -122.100774 36.795544 -289.004761 51201.497030 1 # 70 -122.097002 36.796145 -308.850749 51544.550130 1 # 71 -122.094949 36.798158 -255.927002 51833.409615 1 # 72 -122.093828 36.800050 -224.451213 52065.948907 1 # 73 -122.090729 36.804436 -234.032654 52625.612978 1 # 74 -122.086770 36.805097 -197.411560 52986.278529 1 # 75 -122.085463 36.806149 -197.883041 53151.238131 3 # 76 -122.082177 36.809513 -137.782558 53625.794895 1 # 77 -122.074783 36.805278 -130.136513 54435.614809 1 # 78 -122.068098 36.802003 -148.311455 55133.952799 1 # 79 -122.065036 36.797617 -180.477192 55691.972681 1 # 80 -122.062571 36.794012 -182.732651 56148.390452 1 # 81 -122.058128 36.787583 -215.135353 56964.388635 1 # 82 -122.054841 36.784639 -263.109306 57403.364013 3 # 83 -122.054318 36.786682 -232.472752 57634.767213 3 # 84 -122.056783 36.788575 -204.511467 57938.877043 1 # 85 -122.060928 36.794703 -158.530758 58712.800442 1 # 86 -122.063356 36.798158 -150.959305 59153.075158 1 # 87 -122.066717 36.803295 -123.281477 59797.039979 1 # 88 -122.073439 36.806539 -114.930700 60496.414786 1 # 89 -122.082625 36.811316 -114.902121 61472.293593 1 # 90 -122.086210 36.807531 -139.490133 62000.142082 3 # 91 -122.087442 36.806629 -154.904816 62148.742713 1 # 92 -122.091364 36.805818 -174.879211 62509.927485 1 # 93 -122.095061 36.800591 -209.041606 63177.057658 1 # 94 -122.096106 36.798849 -241.462158 63391.689698 1 # 95 -122.097525 36.797347 -274.838216 63600.966973 1 # 96 -122.099094 36.796716 -285.753825 63757.427939 1 # 97 -122.098011 36.790377 -522.886719 64467.242762 1 # 98 -122.099766 36.789957 -457.647176 64630.653286 1 # 99 -122.103164 36.788755 -434.311361 64961.886141 1 # 100 -122.104509 36.795514 -283.590007 65721.284258 1 # 101 -122.100998 36.796626 -270.855672 66057.876713 1 # 102 -122.098422 36.798158 -251.702189 66343.778761 1 # 103 -122.097189 36.799420 -225.421427 66521.770947 1 # 104 -122.096181 36.801312 -192.122375 66750.191827 1 # 105 -122.092409 36.807050 -138.684672 67470.205313 1 # 106 -122.088003 36.807801 -144.279073 67872.036123 1 # 107 -122.086882 36.809333 -123.968513 68069.205420 3 # 108 -122.083223 36.813269 -111.911861 68614.366077 1 # 109 -122.072094 36.807891 -101.652431 69772.604521 1 # 110 -122.065484 36.804737 -107.962296 70458.273811 1 # 111 -122.061115 36.798879 -127.706966 71216.080736 1 # 112 -122.059024 36.795424 -145.699001 71642.365398 1 # 113 -122.055513 36.789866 -185.969231 72333.980708 3 # 114 -122.055850 36.793652 -140.383514 72755.070942 1 # 115 -122.053721 36.799510 -103.699667 73432.143453 1 # 116 -122.048680 36.804466 -102.169792 74142.462125 1 # 117 -122.040987 36.808312 -99.465866 74950.570155 1 # 118 -122.013091 36.818045 -102.019798 82841.101525 3 # 119 -122.014099 36.819307 -97.841736 83007.492407 3 # 120 -122.041883 36.809574 -97.501506 85710.838694 1 # 121 -122.049949 36.805518 -99.631185 86559.495701 1 # 122 -122.055289 36.800411 -103.334188 87299.746373 1 # 123 -122.058128 36.793261 -158.563822 88132.381850 4 # # A total of 773 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 66300; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 1424.815206; abortDepth = 1444.815206; 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 = 300; 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 123 # Segment length 101.455895 meters # Minimum depth: 150.430592 meters looking forward 200.000000 meters along route # Maximum depth: 158.563822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 100.430592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793261; longitude = -122.058128; duration = 202; # abortOnTimeout = True; initialDepth = 85.017872; finalDepth = 100.430592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.13323 # Actual altitude: 58.13323 # Commanded vehicle depth: 100.430592 # Seafloor depth: -158.563822 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 123 # Segment length 104.954283 meters # Minimum depth: 135.017872 meters looking forward 200.000000 meters along route # Maximum depth: 157.847364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.017872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794132; longitude = -122.057782; duration = 209; initialDepth = 75.850995; finalDepth = 85.017872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.703354 # Actual altitude: 63.703354 # Commanded vehicle depth: 85.017872 # Seafloor depth: -148.721226 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 104.954190 meters # Minimum depth: 125.850995 meters looking forward 200.000000 meters along route # Maximum depth: 147.563629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 75.850995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795034; longitude = -122.057424; duration = 209; initialDepth = 69.610358; finalDepth = 75.850995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.703354 # Actual altitude: 63.703354 # Commanded vehicle depth: 75.850995 # Seafloor depth: -133.124793 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 104.954098 meters # Minimum depth: 119.610358 meters looking forward 200.000000 meters along route # Maximum depth: 132.035290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 69.610358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795935; longitude = -122.057066; duration = 209; initialDepth = 62.929213; finalDepth = 69.610358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.273798 # Actual altitude: 57.273798 # Commanded vehicle depth: 69.610358 # Seafloor depth: -125.100210 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 123 # Segment length 104.954006 meters # Minimum depth: 112.929213 meters looking forward 200.000000 meters along route # Maximum depth: 124.189547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 62.929213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796836; longitude = -122.056708; duration = 209; initialDepth = 57.319891; finalDepth = 62.929213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.423791 # Actual altitude: 56.423791 # Commanded vehicle depth: 62.929213 # Seafloor depth: -119.353004 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 123 # Segment length 104.953913 meters # Minimum depth: 107.319891 meters looking forward 200.000000 meters along route # Maximum depth: 118.721010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 57.319891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -122.056351; duration = 209; initialDepth = 54.046732; finalDepth = 57.319891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.423791 # Actual altitude: 56.423791 # Commanded vehicle depth: 57.319891 # Seafloor depth: -112.342690 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 123 # Segment length 104.953820 meters # Minimum depth: 104.046732 meters looking forward 200.000000 meters along route # Maximum depth: 112.318636 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 54.046732 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798638; longitude = -122.055993; duration = 209; initialDepth = 53.264481; finalDepth = 54.046732; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.022799 # Actual altitude: 55.022799 # Commanded vehicle depth: 54.046732 # Seafloor depth: -106.689562 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 123 # Segment length 101.455272 meters # Minimum depth: 103.264481 meters looking forward 200.000000 meters along route # Maximum depth: 105.915925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 53.264481 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799540; longitude = -122.055635; duration = 202; initialDepth = 52.661177; finalDepth = 53.264481; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.64283 # Actual altitude: 52.64283 # Commanded vehicle depth: 53.264481 # Seafloor depth: -103.968898 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 122 # Segment length 108.861601 meters # Minimum depth: 102.661177 meters looking forward 200.000000 meters along route # Maximum depth: 104.164659 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.661177 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800411; longitude = -122.055289; duration = 217; # abortOnTimeout = True; initialDepth = 52.117187; finalDepth = 52.661177; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.704417 # Actual altitude: 50.704417 # Commanded vehicle depth: 52.661177 # Seafloor depth: -103.334188 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 122 # Segment length 104.506745 meters # Minimum depth: 102.117187 meters looking forward 200.000000 meters along route # Maximum depth: 103.370628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.117187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801162; longitude = -122.054504; duration = 209; initialDepth = 50.141384; finalDepth = 52.117187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.687202 # Actual altitude: 50.687202 # Commanded vehicle depth: 52.117187 # Seafloor depth: -102.804389 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 122 # Segment length 104.506361 meters # Minimum depth: 100.141384 meters looking forward 200.000000 meters along route # Maximum depth: 103.036178 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.141384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801883; longitude = -122.053750; duration = 209; initialDepth = 49.229245; finalDepth = 50.141384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.31962 # Actual altitude: 52.31962 # Commanded vehicle depth: 50.141384 # Seafloor depth: -102.461004 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 122 # Segment length 106.607055 meters # Minimum depth: 99.229245 meters looking forward 200.000000 meters along route # Maximum depth: 102.175885 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.229245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802604; longitude = -122.052996; duration = 213; initialDepth = 48.637250; finalDepth = 49.229245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.31962 # Actual altitude: 52.31962 # Commanded vehicle depth: 49.229245 # Seafloor depth: -100.551551 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 122 # Segment length 102.404515 meters # Minimum depth: 98.637250 meters looking forward 200.000000 meters along route # Maximum depth: 100.362959 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 48.637250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803339; longitude = -122.052227; duration = 204; initialDepth = 48.637250; finalDepth = 48.637250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.322306 # Actual altitude: 51.322306 # Commanded vehicle depth: 48.63725 # Seafloor depth: -99.195331 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 122 # Segment length 104.505210 meters # Minimum depth: 98.637250 meters looking forward 200.000000 meters along route # Maximum depth: 100.384663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 48.637250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804046; longitude = -122.051488; duration = 209; initialDepth = 48.564479; finalDepth = 48.637250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.7312 # Actual altitude: 51.7312 # Commanded vehicle depth: 48.63725 # Seafloor depth: -100.368450 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 122 # Segment length 108.859185 meters # Minimum depth: 98.564479 meters looking forward 200.000000 meters along route # Maximum depth: 100.365388 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 48.564479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804767; longitude = -122.050735; duration = 217; initialDepth = 48.564479; finalDepth = 48.564479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.7312 # Actual altitude: 51.7312 # Commanded vehicle depth: 48.564479 # Seafloor depth: -99.229370 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 121 # Segment length 113.941848 meters # Minimum depth: 98.564479 meters looking forward 200.000000 meters along route # Maximum depth: 100.000275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 48.564479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805518; longitude = -122.049949; duration = 227; # abortOnTimeout = True; initialDepth = 49.651004; finalDepth = 48.564479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.066706 # Actual altitude: 51.066706 # Commanded vehicle depth: 48.564479 # Seafloor depth: -99.631185 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 121 # Segment length 106.083291 meters # Minimum depth: 99.651004 meters looking forward 200.000000 meters along route # Maximum depth: 101.297045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.651004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806062; longitude = -122.048866; duration = 212; initialDepth = 49.185803; finalDepth = 49.651004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.066706 # Actual altitude: 51.066706 # Commanded vehicle depth: 49.651004 # Seafloor depth: -99.651004 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 121 # Segment length 106.082811 meters # Minimum depth: 99.185803 meters looking forward 200.000000 meters along route # Maximum depth: 102.072599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.185803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806569; longitude = -122.047858; duration = 212; initialDepth = 49.185803; finalDepth = 49.185803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.310695 # Actual altitude: 52.310695 # Commanded vehicle depth: 49.185803 # Seafloor depth: -101.496498 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 121 # Segment length 106.082330 meters # Minimum depth: 99.185803 meters looking forward 200.000000 meters along route # Maximum depth: 102.072599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.185803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807076; longitude = -122.046850; duration = 212; initialDepth = 47.570464; finalDepth = 49.185803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.310695 # Actual altitude: 52.310695 # Commanded vehicle depth: 49.185803 # Seafloor depth: -99.965082 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 121 # Segment length 108.439219 meters # Minimum depth: 97.570464 meters looking forward 200.000000 meters along route # Maximum depth: 100.243224 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.570464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807583; longitude = -122.045841; duration = 216; initialDepth = 47.544421; finalDepth = 47.570464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.51126 # Actual altitude: 52.51126 # Commanded vehicle depth: 47.570464 # Seafloor depth: -100.081724 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 121 # Segment length 103.724001 meters # Minimum depth: 97.544421 meters looking forward 200.000000 meters along route # Maximum depth: 99.839622 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.544421 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808101; longitude = -122.044811; duration = 207; initialDepth = 47.656921; finalDepth = 47.544421; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.51126 # Actual altitude: 52.51126 # Commanded vehicle depth: 47.544421 # Seafloor depth: -97.544421 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 121 # Segment length 103.723541 meters # Minimum depth: 97.656921 meters looking forward 200.000000 meters along route # Maximum depth: 99.437300 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.656921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808597; longitude = -122.043825; duration = 207; initialDepth = 47.573768; finalDepth = 47.656921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.320931 # Actual altitude: 51.320931 # Commanded vehicle depth: 47.656921 # Seafloor depth: -98.977852 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 121 # Segment length 100.579966 meters # Minimum depth: 97.573768 meters looking forward 200.000000 meters along route # Maximum depth: 98.837642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.573768 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809093; longitude = -122.042839; duration = 201; initialDepth = 47.304384; finalDepth = 47.573768; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.320931 # Actual altitude: 51.320931 # Commanded vehicle depth: 47.573768 # Seafloor depth: -98.586909 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 120 # Segment length 91.784748 meters # Minimum depth: 97.304384 meters looking forward 200.000000 meters along route # Maximum depth: 98.758313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.304384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809574; longitude = -122.041883; duration = 183; # abortOnTimeout = True; initialDepth = 47.304384; finalDepth = 47.304384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.013141 # Actual altitude: 51.013141 # Commanded vehicle depth: 47.304384 # Seafloor depth: -97.501506 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.128457 meters # Minimum depth: 97.304384 meters looking forward 200.000000 meters along route # Maximum depth: 98.838049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.304384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809904; longitude = -122.040940; duration = 200; initialDepth = 46.409357; finalDepth = 47.304384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.264097 # Actual altitude: 51.264097 # Commanded vehicle depth: 47.304384 # Seafloor depth: -98.568481 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.128083 meters # Minimum depth: 96.409357 meters looking forward 200.000000 meters along route # Maximum depth: 98.838049 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.409357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810264; longitude = -122.039911; duration = 200; initialDepth = 46.219631; finalDepth = 46.409357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.687185 # Actual altitude: 51.687185 # Commanded vehicle depth: 46.409357 # Seafloor depth: -98.096542 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.51; 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 120 # Segment length 100.127709 meters # Minimum depth: 96.219631 meters looking forward 200.000000 meters along route # Maximum depth: 98.239792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.219631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810625; longitude = -122.038882; duration = 200; initialDepth = 46.219631; finalDepth = 46.219631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.687185 # Actual altitude: 51.687185 # Commanded vehicle depth: 46.219631 # Seafloor depth: -96.399268 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.51; 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 120 # Segment length 100.127334 meters # Minimum depth: 96.219631 meters looking forward 200.000000 meters along route # Maximum depth: 97.314542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.219631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810985; longitude = -122.037853; duration = 200; initialDepth = 45.784925; finalDepth = 46.219631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.876303 # Actual altitude: 50.876303 # Commanded vehicle depth: 46.219631 # Seafloor depth: -97.095934 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.126961 meters # Minimum depth: 95.784925 meters looking forward 200.000000 meters along route # Maximum depth: 97.314542 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.784925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811346; longitude = -122.036824; duration = 200; initialDepth = 45.627099; finalDepth = 45.784925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.255884 # Actual altitude: 51.255884 # Commanded vehicle depth: 45.784925 # Seafloor depth: -97.040809 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.126586 meters # Minimum depth: 95.627099 meters looking forward 200.000000 meters along route # Maximum depth: 96.931611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.627099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811706; longitude = -122.035795; duration = 200; initialDepth = 45.627099; finalDepth = 45.627099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.255884 # Actual altitude: 51.255884 # Commanded vehicle depth: 45.627099 # Seafloor depth: -95.796073 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.126212 meters # Minimum depth: 95.627099 meters looking forward 200.000000 meters along route # Maximum depth: 96.728306 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.627099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812067; longitude = -122.034766; duration = 200; initialDepth = 45.163594; finalDepth = 45.627099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.767524 # Actual altitude: 50.767524 # Commanded vehicle depth: 45.627099 # Seafloor depth: -96.394623 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.125837 meters # Minimum depth: 95.163594 meters looking forward 200.000000 meters along route # Maximum depth: 96.805945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.163594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812427; longitude = -122.033736; duration = 200; initialDepth = 44.948161; finalDepth = 45.163594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.108616 # Actual altitude: 51.108616 # Commanded vehicle depth: 45.163594 # Seafloor depth: -96.272210 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.125464 meters # Minimum depth: 94.948161 meters looking forward 200.000000 meters along route # Maximum depth: 96.805945 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 44.948161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812788; longitude = -122.032707; duration = 200; initialDepth = 44.948161; finalDepth = 44.948161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.108616 # Actual altitude: 51.108616 # Commanded vehicle depth: 44.948161 # Seafloor depth: -95.153821 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.125089 meters # Minimum depth: 94.948161 meters looking forward 200.000000 meters along route # Maximum depth: 96.400540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 44.948161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813148; longitude = -122.031678; duration = 200; initialDepth = 44.663814; finalDepth = 44.948161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.14044 # Actual altitude: 51.14044 # Commanded vehicle depth: 44.948161 # Seafloor depth: -96.088601 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.124716 meters # Minimum depth: 94.663814 meters looking forward 200.000000 meters along route # Maximum depth: 96.400540 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 44.663814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813509; longitude = -122.030649; duration = 200; initialDepth = 44.663814; finalDepth = 44.663814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.14044 # Actual altitude: 51.14044 # Commanded vehicle depth: 44.663814 # Seafloor depth: -95.039700 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.124341 meters # Minimum depth: 94.663814 meters looking forward 200.000000 meters along route # Maximum depth: 95.158042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 44.663814 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813869; longitude = -122.029620; duration = 200; initialDepth = 44.665676; finalDepth = 44.663814; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.460668 # Actual altitude: 50.460668 # Commanded vehicle depth: 44.663814 # Seafloor depth: -95.124482 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.14; 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 120 # Segment length 100.123967 meters # Minimum depth: 94.665676 meters looking forward 200.000000 meters along route # Maximum depth: 95.158042 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 44.665676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814230; longitude = -122.028591; duration = 200; initialDepth = 43.902224; finalDepth = 44.665676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.460668 # Actual altitude: 50.460668 # Commanded vehicle depth: 44.665676 # Seafloor depth: -94.948502 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.14; 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 120 # Segment length 100.123593 meters # Minimum depth: 93.902224 meters looking forward 200.000000 meters along route # Maximum depth: 95.039291 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 43.902224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814590; longitude = -122.027562; duration = 200; initialDepth = 42.487757; finalDepth = 43.902224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.747812 # Actual altitude: 50.747812 # Commanded vehicle depth: 43.902224 # Seafloor depth: -94.650036 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.22; 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 120 # Segment length 100.123219 meters # Minimum depth: 92.487757 meters looking forward 200.000000 meters along route # Maximum depth: 94.719005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.487757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814951; longitude = -122.026533; duration = 200; initialDepth = 42.152204; finalDepth = 42.487757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.562836 # Actual altitude: 51.562836 # Commanded vehicle depth: 42.487757 # Seafloor depth: -94.050593 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.122846 meters # Minimum depth: 92.152204 meters looking forward 200.000000 meters along route # Maximum depth: 93.911564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.152204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815311; longitude = -122.025504; duration = 200; initialDepth = 41.648671; finalDepth = 42.152204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.562836 # Actual altitude: 51.562836 # Commanded vehicle depth: 42.152204 # Seafloor depth: -92.370412 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.122471 meters # Minimum depth: 91.648671 meters looking forward 200.000000 meters along route # Maximum depth: 92.761233 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.648671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815672; longitude = -122.024475; duration = 200; initialDepth = 41.211763; finalDepth = 41.648671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.275796 # Actual altitude: 50.275796 # Commanded vehicle depth: 41.648671 # Seafloor depth: -91.924467 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.122097 meters # Minimum depth: 91.211763 meters looking forward 200.000000 meters along route # Maximum depth: 91.906524 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.211763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816032; longitude = -122.023446; duration = 200; initialDepth = 41.211763; finalDepth = 41.211763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.515749 # Actual altitude: 50.515749 # Commanded vehicle depth: 41.211763 # Seafloor depth: -91.727512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.15; 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 120 # Segment length 100.121723 meters # Minimum depth: 91.211763 meters looking forward 200.000000 meters along route # Maximum depth: 92.275999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.211763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816393; longitude = -122.022417; duration = 200; initialDepth = 41.629378; finalDepth = 41.211763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.515749 # Actual altitude: 50.515749 # Commanded vehicle depth: 41.211763 # Seafloor depth: -91.384421 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.15; 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 120 # Segment length 100.121349 meters # Minimum depth: 91.629378 meters looking forward 200.000000 meters along route # Maximum depth: 92.460968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.629378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816753; longitude = -122.021388; duration = 200; initialDepth = 42.066064; finalDepth = 41.629378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.613403 # Actual altitude: 50.613403 # Commanded vehicle depth: 41.629378 # Seafloor depth: -92.242781 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.120975 meters # Minimum depth: 92.066064 meters looking forward 200.000000 meters along route # Maximum depth: 92.945279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.066064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.817114; longitude = -122.020359; duration = 200; initialDepth = 41.907377; finalDepth = 42.066064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.613403 # Actual altitude: 50.613403 # Commanded vehicle depth: 42.066064 # Seafloor depth: -92.553464 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.120601 meters # Minimum depth: 91.907377 meters looking forward 200.000000 meters along route # Maximum depth: 92.945279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.907377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.817474; longitude = -122.019330; duration = 200; initialDepth = 41.802943; finalDepth = 41.907377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.4874 # Actual altitude: 50.4874 # Commanded vehicle depth: 41.907377 # Seafloor depth: -92.264346 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.15; 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 120 # Segment length 100.120228 meters # Minimum depth: 91.802943 meters looking forward 200.000000 meters along route # Maximum depth: 92.277154 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.802943 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.817835; longitude = -122.018301; duration = 200; initialDepth = 41.530344; finalDepth = 41.802943; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.356969 # Actual altitude: 50.356969 # Commanded vehicle depth: 41.802943 # Seafloor depth: -91.905405 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 120 # Segment length 100.119853 meters # Minimum depth: 91.530344 meters looking forward 200.000000 meters along route # Maximum depth: 91.940672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.530344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818195; longitude = -122.017272; duration = 200; initialDepth = 41.530344; finalDepth = 41.530344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.296497 # Actual altitude: 50.296497 # Commanded vehicle depth: 41.530344 # Seafloor depth: -91.826841 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.09; 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 120 # Segment length 106.847926 meters # Minimum depth: 91.530344 meters looking forward 200.000000 meters along route # Maximum depth: 95.837077 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.530344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818556; longitude = -122.016243; duration = 213; initialDepth = 42.483067; finalDepth = 41.530344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.296497 # Actual altitude: 50.296497 # Commanded vehicle depth: 41.530344 # Seafloor depth: -91.654264 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.09; 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 120 # Segment length 101.733902 meters # Minimum depth: 92.483067 meters looking forward 200.000000 meters along route # Maximum depth: 97.790705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.483067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818941; longitude = -122.015145; duration = 203; initialDepth = 47.388953; finalDepth = 42.483067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.510763 # Actual altitude: 53.510763 # Commanded vehicle depth: 42.483067 # Seafloor depth: -95.993830 # 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 = 20; 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; } # ####################################################### # # 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 119 # Segment length 166.390882 meters # Minimum depth: 97.388953 meters looking forward 200.000000 meters along route # Maximum depth: 101.603507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.388953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.819307; longitude = -122.014099; duration = 332; # abortOnTimeout = True; initialDepth = 49.106190; finalDepth = 47.388953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.510763 # Actual altitude: 53.510763 # Commanded vehicle depth: 47.388953 # Seafloor depth: -97.841736 # 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 = 20; 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; } # ####################################################### # # 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 118 # Segment length 108.783358 meters # Minimum depth: 99.106190 meters looking forward 200.000000 meters along route # Maximum depth: 102.019798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.106190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818045; longitude = -122.013091; duration = 217; # abortOnTimeout = True; initialDepth = 42.742032; finalDepth = 49.106190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.913608 # Actual altitude: 52.913608 # Commanded vehicle depth: 49.10619 # Seafloor depth: -102.019798 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.464251 meters # Minimum depth: 92.742032 meters looking forward 200.000000 meters along route # Maximum depth: 101.116981 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.742032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.817655; longitude = -122.014210; duration = 200; initialDepth = 41.821506; finalDepth = 42.742032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.245728 # Actual altitude: 56.245728 # Commanded vehicle depth: 42.742032 # Seafloor depth: -98.987760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 100.464626 meters # Minimum depth: 91.821506 meters looking forward 200.000000 meters along route # Maximum depth: 98.897351 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.821506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.817294; longitude = -122.015243; duration = 200; initialDepth = 41.815051; finalDepth = 41.821506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.245728 # Actual altitude: 56.245728 # Commanded vehicle depth: 41.821506 # Seafloor depth: -92.522600 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 100.465002 meters # Minimum depth: 91.815051 meters looking forward 200.000000 meters along route # Maximum depth: 92.802081 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.815051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816934; longitude = -122.016276; duration = 200; initialDepth = 41.815051; finalDepth = 41.815051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.701094 # Actual altitude: 50.701094 # Commanded vehicle depth: 41.815051 # Seafloor depth: -91.980627 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.465378 meters # Minimum depth: 91.815051 meters looking forward 200.000000 meters along route # Maximum depth: 94.126088 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.815051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816573; longitude = -122.017309; duration = 200; initialDepth = 41.871424; finalDepth = 41.815051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.268441 # Actual altitude: 50.268441 # Commanded vehicle depth: 41.815051 # Seafloor depth: -92.083492 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.465753 meters # Minimum depth: 91.871424 meters looking forward 200.000000 meters along route # Maximum depth: 94.396766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.871424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.816213; longitude = -122.018343; duration = 200; initialDepth = 41.837518; finalDepth = 41.871424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.309519 # Actual altitude: 52.309519 # Commanded vehicle depth: 41.871424 # Seafloor depth: -94.180943 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.574858 meters # Minimum depth: 91.837518 meters looking forward 200.000000 meters along route # Maximum depth: 94.396766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.837518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815852; longitude = -122.019376; duration = 201; initialDepth = 41.645159; finalDepth = 41.837518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.309519 # Actual altitude: 52.309519 # Commanded vehicle depth: 41.837518 # Seafloor depth: -93.044020 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.357776 meters # Minimum depth: 91.645159 meters looking forward 200.000000 meters along route # Maximum depth: 92.952443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.645159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815491; longitude = -122.020410; duration = 200; initialDepth = 41.645159; finalDepth = 41.645159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.206502 # Actual altitude: 51.206502 # Commanded vehicle depth: 41.645159 # Seafloor depth: -91.950304 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.466880 meters # Minimum depth: 91.645159 meters looking forward 200.000000 meters along route # Maximum depth: 92.436825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.645159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.815131; longitude = -122.021442; duration = 200; initialDepth = 41.824859; finalDepth = 41.645159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.382997 # Actual altitude: 50.382997 # Commanded vehicle depth: 41.645159 # Seafloor depth: -92.028156 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.467256 meters # Minimum depth: 91.824859 meters looking forward 200.000000 meters along route # Maximum depth: 92.882364 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.824859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814771; longitude = -122.022476; duration = 200; initialDepth = 41.824859; finalDepth = 41.824859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.382997 # Actual altitude: 50.382997 # Commanded vehicle depth: 41.824859 # Seafloor depth: -92.020796 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.467632 meters # Minimum depth: 91.824859 meters looking forward 200.000000 meters along route # Maximum depth: 92.938564 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.824859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814410; longitude = -122.023509; duration = 200; initialDepth = 41.906806; finalDepth = 41.824859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.113705 # Actual altitude: 51.113705 # Commanded vehicle depth: 41.824859 # Seafloor depth: -92.938564 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.468007 meters # Minimum depth: 91.906806 meters looking forward 200.000000 meters along route # Maximum depth: 94.787075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.906806 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.814050; longitude = -122.024542; duration = 200; initialDepth = 42.701156; finalDepth = 41.906806; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.113705 # Actual altitude: 51.113705 # Commanded vehicle depth: 41.906806 # Seafloor depth: -92.661487 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.468383 meters # Minimum depth: 92.701156 meters looking forward 200.000000 meters along route # Maximum depth: 95.916638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.701156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813689; longitude = -122.025575; duration = 200; initialDepth = 44.735788; finalDepth = 42.701156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.085965 # Actual altitude: 52.085965 # Commanded vehicle depth: 42.701156 # Seafloor depth: -94.787121 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 100.468759 meters # Minimum depth: 94.735788 meters looking forward 200.000000 meters along route # Maximum depth: 97.642138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 44.735788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813329; longitude = -122.026609; duration = 200; initialDepth = 46.132184; finalDepth = 44.735788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.085965 # Actual altitude: 52.085965 # Commanded vehicle depth: 44.735788 # Seafloor depth: -96.006545 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 100.469135 meters # Minimum depth: 96.132184 meters looking forward 200.000000 meters along route # Maximum depth: 97.960163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.132184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812968; longitude = -122.027642; duration = 200; initialDepth = 46.821545; finalDepth = 46.132184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.270757 # Actual altitude: 51.270757 # Commanded vehicle depth: 46.132184 # Seafloor depth: -97.283895 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 100.535786 meters # Minimum depth: 96.821545 meters looking forward 200.000000 meters along route # Maximum depth: 97.960163 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.821545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812608; longitude = -122.028675; duration = 201; initialDepth = 46.821545; finalDepth = 46.821545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.151711 # Actual altitude: 51.151711 # Commanded vehicle depth: 46.821545 # Seafloor depth: -97.558043 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 100.403610 meters # Minimum depth: 96.821545 meters looking forward 200.000000 meters along route # Maximum depth: 99.402184 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.821545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812247; longitude = -122.029709; duration = 200; initialDepth = 47.055589; finalDepth = 46.821545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.736498 # Actual altitude: 50.736498 # Commanded vehicle depth: 46.821545 # Seafloor depth: -96.969401 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.22; 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 118 # Segment length 100.470262 meters # Minimum depth: 97.055589 meters looking forward 200.000000 meters along route # Maximum depth: 99.585870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.055589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811887; longitude = -122.030741; duration = 200; initialDepth = 48.987300; finalDepth = 47.055589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.313696 # Actual altitude: 52.313696 # Commanded vehicle depth: 47.055589 # Seafloor depth: -99.369285 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.470638 meters # Minimum depth: 98.987300 meters looking forward 200.000000 meters along route # Maximum depth: 99.985983 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 48.987300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811526; longitude = -122.031775; duration = 200; initialDepth = 46.293154; finalDepth = 48.987300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.313696 # Actual altitude: 52.313696 # Commanded vehicle depth: 48.9873 # Seafloor depth: -99.539802 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.471014 meters # Minimum depth: 96.293154 meters looking forward 200.000000 meters along route # Maximum depth: 99.985983 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.293154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811166; longitude = -122.032808; duration = 200; initialDepth = 45.612186; finalDepth = 46.293154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.699744 # Actual altitude: 52.699744 # Commanded vehicle depth: 46.293154 # Seafloor depth: -98.992898 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.471389 meters # Minimum depth: 95.612186 meters looking forward 200.000000 meters along route # Maximum depth: 98.950431 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.612186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810805; longitude = -122.033841; duration = 200; initialDepth = 45.612186; finalDepth = 45.612186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.699744 # Actual altitude: 52.699744 # Commanded vehicle depth: 45.612186 # Seafloor depth: -96.046837 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.471766 meters # Minimum depth: 95.612186 meters looking forward 200.000000 meters along route # Maximum depth: 97.519822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.612186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810445; longitude = -122.034874; duration = 200; initialDepth = 46.797035; finalDepth = 45.612186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.086457 # Actual altitude: 51.086457 # Commanded vehicle depth: 45.612186 # Seafloor depth: -96.698643 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.472141 meters # Minimum depth: 96.797035 meters looking forward 200.000000 meters along route # Maximum depth: 97.662454 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.797035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810084; longitude = -122.035908; duration = 200; initialDepth = 46.608756; finalDepth = 46.797035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.086457 # Actual altitude: 51.086457 # Commanded vehicle depth: 46.797035 # Seafloor depth: -97.547204 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.472517 meters # Minimum depth: 96.608756 meters looking forward 200.000000 meters along route # Maximum depth: 98.042467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.608756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809724; longitude = -122.036941; duration = 200; initialDepth = 46.608756; finalDepth = 46.608756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.10896 # Actual altitude: 51.10896 # Commanded vehicle depth: 46.608756 # Seafloor depth: -97.717716 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 100.496715 meters # Minimum depth: 96.608756 meters looking forward 200.000000 meters along route # Maximum depth: 98.274808 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.608756 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809363; longitude = -122.037974; duration = 200; initialDepth = 47.841736; finalDepth = 46.608756; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.10896 # Actual altitude: 51.10896 # Commanded vehicle depth: 46.608756 # Seafloor depth: -97.235677 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 2550.164992 meters # Minimum depth: 97.841736 meters looking forward 200.000000 meters along route # Maximum depth: 98.444799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.841736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809003; longitude = -122.039008; duration = 5100; initialDepth = 47.841736; finalDepth = 47.841736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.626921 # Actual altitude: 50.626921 # Commanded vehicle depth: 47.841736 # Seafloor depth: -98.274944 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 108.752406 meters # Minimum depth: 97.841736 meters looking forward 200.000000 meters along route # Maximum depth: 101.531701 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.841736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818916; longitude = -122.013787; duration = 217; initialDepth = 51.603507; finalDepth = 47.841736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.640241 # Actual altitude: 50.640241 # Commanded vehicle depth: 47.841736 # Seafloor depth: -98.481977 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 118 # Segment length 2711.561080 meters # Minimum depth: 101.603507 meters looking forward 200.000000 meters along route # Maximum depth: 101.603507 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.603507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.818092; longitude = -122.013128; duration = 5423; initialDepth = 49.465866; finalDepth = 51.603507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.640241 # Actual altitude: 50.640241 # Commanded vehicle depth: 51.603507 # Seafloor depth: -101.603507 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 117 # Segment length 180.416344 meters # Minimum depth: 99.465866 meters looking forward 200.000000 meters along route # Maximum depth: 100.879443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.465866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808312; longitude = -122.040987; duration = 360; # abortOnTimeout = True; initialDepth = 48.489596; finalDepth = 49.465866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 49.465866 # Seafloor depth: -99.465866 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 117 # Segment length 109.985999 meters # Minimum depth: 98.489596 meters looking forward 200.000000 meters along route # Maximum depth: 100.765060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 48.489596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807453; longitude = -122.042705; duration = 219; initialDepth = 48.489596; finalDepth = 48.489596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.753256 # Actual altitude: 51.753256 # Commanded vehicle depth: 48.489596 # Seafloor depth: -100.242852 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 117 # Segment length 101.842391 meters # Minimum depth: 98.489596 meters looking forward 200.000000 meters along route # Maximum depth: 101.826385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 48.489596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806930; longitude = -122.043752; duration = 203; initialDepth = 49.875767; finalDepth = 48.489596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.753256 # Actual altitude: 51.753256 # Commanded vehicle depth: 48.489596 # Seafloor depth: -99.578994 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 117 # Segment length 106.459674 meters # Minimum depth: 99.875767 meters looking forward 200.000000 meters along route # Maximum depth: 103.447514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.875767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806445; longitude = -122.044721; duration = 212; initialDepth = 52.104171; finalDepth = 49.875767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.130287 # Actual altitude: 52.130287 # Commanded vehicle depth: 49.875767 # Seafloor depth: -102.006054 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 117 # Segment length 105.370629 meters # Minimum depth: 102.104171 meters looking forward 200.000000 meters along route # Maximum depth: 103.683283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.104171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805939; longitude = -122.045735; duration = 210; initialDepth = 52.169916; finalDepth = 52.104171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.130287 # Actual altitude: 52.130287 # Commanded vehicle depth: 52.104171 # Seafloor depth: -103.325307 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 117 # Segment length 102.933286 meters # Minimum depth: 102.169916 meters looking forward 200.000000 meters along route # Maximum depth: 103.840493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.169916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805437; longitude = -122.046738; duration = 205; initialDepth = 52.009191; finalDepth = 52.169916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.529001 # Actual altitude: 51.529001 # Commanded vehicle depth: 52.169916 # Seafloor depth: -103.698917 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 117 # Segment length 101.099707 meters # Minimum depth: 102.009191 meters looking forward 200.000000 meters along route # Maximum depth: 103.840493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.009191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804947; longitude = -122.047718; duration = 202; initialDepth = 52.009191; finalDepth = 52.009191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.529001 # Actual altitude: 51.529001 # Commanded vehicle depth: 52.009191 # Seafloor depth: -102.543998 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 116 # Segment length 86.042252 meters # Minimum depth: 102.009191 meters looking forward 200.000000 meters along route # Maximum depth: 102.937857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.009191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804466; longitude = -122.048680; duration = 172; # abortOnTimeout = True; initialDepth = 52.009191; finalDepth = 52.009191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.534807 # Actual altitude: 50.534807 # Commanded vehicle depth: 52.009191 # Seafloor depth: -102.169792 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 116 # Segment length 103.335513 meters # Minimum depth: 102.009191 meters looking forward 200.000000 meters along route # Maximum depth: 102.937857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.009191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803866; longitude = -122.049291; duration = 206; initialDepth = 50.991911; finalDepth = 52.009191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.785763 # Actual altitude: 50.785763 # Commanded vehicle depth: 52.009191 # Seafloor depth: -102.794954 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 116 # Segment length 105.232938 meters # Minimum depth: 100.991911 meters looking forward 200.000000 meters along route # Maximum depth: 103.975382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.991911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803145; longitude = -122.050024; duration = 210; initialDepth = 50.392353; finalDepth = 50.991911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.918401 # Actual altitude: 51.918401 # Commanded vehicle depth: 50.991911 # Seafloor depth: -102.910312 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 116 # Segment length 101.439188 meters # Minimum depth: 100.392353 meters looking forward 200.000000 meters along route # Maximum depth: 103.975382 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.392353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802410; longitude = -122.050771; duration = 202; initialDepth = 50.392353; finalDepth = 50.392353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.918401 # Actual altitude: 51.918401 # Commanded vehicle depth: 50.392353 # Seafloor depth: -100.902171 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 116 # Segment length 103.781276 meters # Minimum depth: 100.392353 meters looking forward 200.000000 meters along route # Maximum depth: 102.816848 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.392353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801703; longitude = -122.051491; duration = 207; initialDepth = 51.132086; finalDepth = 50.392353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.509818 # Actual altitude: 50.509818 # Commanded vehicle depth: 50.392353 # Seafloor depth: -100.840731 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.15; 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 116 # Segment length 102.892318 meters # Minimum depth: 101.132086 meters looking forward 200.000000 meters along route # Maximum depth: 103.475779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.132086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800979; longitude = -122.052227; duration = 205; initialDepth = 53.094835; finalDepth = 51.132086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.688535 # Actual altitude: 51.688535 # Commanded vehicle depth: 51.132086 # Seafloor depth: -102.820621 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.51; 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 116 # Segment length 107.595187 meters # Minimum depth: 103.094835 meters looking forward 200.000000 meters along route # Maximum depth: 103.782058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 53.094835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800261; longitude = -122.052957; duration = 215; initialDepth = 53.655803; finalDepth = 53.094835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.688535 # Actual altitude: 51.688535 # Commanded vehicle depth: 53.094835 # Seafloor depth: -103.436423 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.51; 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 to get to end of line 115 # Segment length 152.815406 meters # Minimum depth: 103.655803 meters looking forward 200.000000 meters along route # Maximum depth: 106.299685 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 53.655803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799510; longitude = -122.053721; duration = 305; # abortOnTimeout = True; initialDepth = 54.180477; finalDepth = 53.655803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.341588 # Actual altitude: 50.341588 # Commanded vehicle depth: 53.655803 # Seafloor depth: -103.699667 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 115 # Segment length 104.166083 meters # Minimum depth: 104.180477 meters looking forward 200.000000 meters along route # Maximum depth: 110.225466 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 54.180477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798188; longitude = -122.054202; duration = 208; initialDepth = 57.037858; finalDepth = 54.180477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.452103 # Actual altitude: 52.452103 # Commanded vehicle depth: 54.180477 # Seafloor depth: -106.632580 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 115 # Segment length 104.166159 meters # Minimum depth: 107.037858 meters looking forward 200.000000 meters along route # Maximum depth: 114.998595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 57.037858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797287; longitude = -122.054529; duration = 208; initialDepth = 60.957550; finalDepth = 57.037858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.626093 # Actual altitude: 53.626093 # Commanded vehicle depth: 57.037858 # Seafloor depth: -110.663951 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 115 # Segment length 104.166234 meters # Minimum depth: 110.957550 meters looking forward 200.000000 meters along route # Maximum depth: 124.630639 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 60.957550 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -122.054857; duration = 208; initialDepth = 67.972453; finalDepth = 60.957550; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.864812 # Actual altitude: 55.864812 # Commanded vehicle depth: 60.95755 # Seafloor depth: -116.822362 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 104.166309 meters # Minimum depth: 117.972453 meters looking forward 200.000000 meters along route # Maximum depth: 131.611765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 67.972453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795484; longitude = -122.055184; duration = 208; initialDepth = 77.015254; finalDepth = 67.972453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.404738 # Actual altitude: 57.404738 # Commanded vehicle depth: 67.972453 # Seafloor depth: -125.377191 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.592320 meters # Minimum depth: 127.015254 meters looking forward 200.000000 meters along route # Maximum depth: 140.038221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 77.015254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794583; longitude = -122.055512; duration = 215; initialDepth = 84.905471; finalDepth = 77.015254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.404738 # Actual altitude: 57.404738 # Commanded vehicle depth: 77.015254 # Seafloor depth: -132.587964 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 114 # Segment length 116.989713 meters # Minimum depth: 134.905471 meters looking forward 200.000000 meters along route # Maximum depth: 147.843303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 84.905471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793652; longitude = -122.055850; duration = 233; # abortOnTimeout = True; initialDepth = 92.122786; finalDepth = 84.905471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.57271 # Actual altitude: 55.57271 # Commanded vehicle depth: 84.905471 # Seafloor depth: -140.383514 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 114 # Segment length 100.238716 meters # Minimum depth: 142.122786 meters looking forward 200.000000 meters along route # Maximum depth: 156.535744 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 92.122786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -122.055756; duration = 200; initialDepth = 99.452592; finalDepth = 92.122786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.68335 # Actual altitude: 56.68335 # Commanded vehicle depth: 92.122786 # Seafloor depth: -148.806136 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 100.238709 meters # Minimum depth: 149.452592 meters looking forward 200.000000 meters along route # Maximum depth: 168.443449 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.452592 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791699; longitude = -122.055676; duration = 200; initialDepth = 109.384376; finalDepth = 99.452592; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.371234 # Actual altitude: 58.371234 # Commanded vehicle depth: 99.452592 # Seafloor depth: -157.823826 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 114 # Segment length 103.623096 meters # Minimum depth: 159.384376 meters looking forward 200.000000 meters along route # Maximum depth: 185.118314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.384376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790798; longitude = -122.055596; duration = 207; initialDepth = 118.443449; finalDepth = 109.384376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.160556 # Actual altitude: 60.160556 # Commanded vehicle depth: 109.384376 # Seafloor depth: -169.544932 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.05; 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; } # ####################################################### # # 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 113 # Segment length 82.289764 meters # Minimum depth: 168.443449 meters looking forward 200.000000 meters along route # Maximum depth: 185.969231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 118.443449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789866; longitude = -122.055513; duration = 164; # abortOnTimeout = True; initialDepth = 122.395578; finalDepth = 118.443449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.525782 # Actual altitude: 67.525782 # Commanded vehicle depth: 118.443449 # Seafloor depth: -185.969231 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.26; 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 113 # Segment length 100.932600 meters # Minimum depth: 172.395578 meters looking forward 200.000000 meters along route # Maximum depth: 185.969231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 122.395578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -122.055931; duration = 201; initialDepth = 115.891690; finalDepth = 122.395578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.525782 # Actual altitude: 67.525782 # Commanded vehicle depth: 122.395578 # Seafloor depth: -176.422262 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.26; 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 113 # Segment length 100.932383 meters # Minimum depth: 165.891690 meters looking forward 200.000000 meters along route # Maximum depth: 175.800989 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 115.891690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -122.056443; duration = 201; initialDepth = 110.500785; finalDepth = 115.891690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.600101 # Actual altitude: 55.600101 # Commanded vehicle depth: 115.89169 # Seafloor depth: -171.491791 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 113 # Segment length 100.932166 meters # Minimum depth: 160.500785 meters looking forward 200.000000 meters along route # Maximum depth: 171.179964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 110.500785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -122.056956; duration = 201; initialDepth = 104.439497; finalDepth = 110.500785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.600101 # Actual altitude: 55.600101 # Commanded vehicle depth: 110.500785 # Seafloor depth: -165.543865 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 113 # Segment length 100.931948 meters # Minimum depth: 154.439497 meters looking forward 200.000000 meters along route # Maximum depth: 164.931103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.439497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792961; longitude = -122.057468; duration = 201; initialDepth = 100.211279; finalDepth = 104.439497; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.240288 # Actual altitude: 55.240288 # Commanded vehicle depth: 104.439497 # Seafloor depth: -159.679785 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 113 # Segment length 102.571037 meters # Minimum depth: 150.211279 meters looking forward 200.000000 meters along route # Maximum depth: 159.446966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 100.211279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793772; longitude = -122.057980; duration = 205; initialDepth = 96.071402; finalDepth = 100.211279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.240288 # Actual altitude: 55.240288 # Commanded vehicle depth: 100.211279 # Seafloor depth: -154.301299 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 113 # Segment length 103.025412 meters # Minimum depth: 146.071402 meters looking forward 200.000000 meters along route # Maximum depth: 153.571620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 96.071402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794596; longitude = -122.058501; duration = 206; initialDepth = 92.445763; finalDepth = 96.071402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.09002 # Actual altitude: 54.09002 # Commanded vehicle depth: 96.071402 # Seafloor depth: -150.150451 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 112 # Segment length 118.615319 meters # Minimum depth: 142.445763 meters looking forward 200.000000 meters along route # Maximum depth: 149.079984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 92.445763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795424; longitude = -122.059024; duration = 237; # abortOnTimeout = True; initialDepth = 86.576969; finalDepth = 92.445763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.079049 # Actual altitude: 54.079049 # Commanded vehicle depth: 92.445763 # Seafloor depth: -145.699001 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 112 # Segment length 100.077276 meters # Minimum depth: 136.576969 meters looking forward 200.000000 meters along route # Maximum depth: 145.563801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 86.576969 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -122.059606; duration = 200; initialDepth = 82.440914; finalDepth = 86.576969; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.405199 # Actual altitude: 55.405199 # Commanded vehicle depth: 86.576969 # Seafloor depth: -141.982168 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.62; 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 112 # Segment length 100.077075 meters # Minimum depth: 132.440914 meters looking forward 200.000000 meters along route # Maximum depth: 141.786419 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 82.440914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -122.060097; duration = 200; initialDepth = 77.898843; finalDepth = 82.440914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.405199 # Actual altitude: 55.405199 # Commanded vehicle depth: 82.440914 # Seafloor depth: -136.366620 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.62; 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 112 # Segment length 107.514992 meters # Minimum depth: 127.898843 meters looking forward 200.000000 meters along route # Maximum depth: 135.928110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 77.898843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -122.060588; duration = 215; initialDepth = 72.057122; finalDepth = 77.898843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.632506 # Actual altitude: 54.632506 # Commanded vehicle depth: 77.898843 # Seafloor depth: -132.531349 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 111 # Segment length 132.106800 meters # Minimum depth: 122.057122 meters looking forward 200.000000 meters along route # Maximum depth: 130.965830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 72.057122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798879; longitude = -122.061115; duration = 264; # abortOnTimeout = True; initialDepth = 70.768844; finalDepth = 72.057122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.649844 # Actual altitude: 55.649844 # Commanded vehicle depth: 72.057122 # Seafloor depth: -127.706966 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 111 # Segment length 104.928845 meters # Minimum depth: 120.768844 meters looking forward 200.000000 meters along route # Maximum depth: 126.257924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 70.768844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799900; longitude = -122.061877; duration = 209; initialDepth = 65.582072; finalDepth = 70.768844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.649844 # Actual altitude: 55.649844 # Commanded vehicle depth: 70.768844 # Seafloor depth: -121.952378 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 111 # Segment length 106.273693 meters # Minimum depth: 115.582072 meters looking forward 200.000000 meters along route # Maximum depth: 121.816961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.582072 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800711; longitude = -122.062482; duration = 212; initialDepth = 63.378214; finalDepth = 65.582072; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.799952 # Actual altitude: 54.799952 # Commanded vehicle depth: 65.582072 # Seafloor depth: -120.382024 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.44; 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 111 # Segment length 103.583113 meters # Minimum depth: 113.378214 meters looking forward 200.000000 meters along route # Maximum depth: 120.242941 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 63.378214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801533; longitude = -122.063094; duration = 207; initialDepth = 62.084810; finalDepth = 63.378214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.799952 # Actual altitude: 54.799952 # Commanded vehicle depth: 63.378214 # Seafloor depth: -115.551469 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.44; 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 111 # Segment length 104.927962 meters # Minimum depth: 112.084810 meters looking forward 200.000000 meters along route # Maximum depth: 115.260169 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 62.084810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802334; longitude = -122.063691; duration = 209; initialDepth = 60.059864; finalDepth = 62.084810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.173255 # Actual altitude: 52.173255 # Commanded vehicle depth: 62.08481 # Seafloor depth: -113.817764 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 111 # Segment length 104.927668 meters # Minimum depth: 110.059864 meters looking forward 200.000000 meters along route # Maximum depth: 113.751017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 60.059864 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803145; longitude = -122.064296; duration = 209; initialDepth = 57.892003; finalDepth = 60.059864; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.185949 # Actual altitude: 52.185949 # Commanded vehicle depth: 60.059864 # Seafloor depth: -112.245813 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 111 # Segment length 101.058844 meters # Minimum depth: 107.892003 meters looking forward 200.000000 meters along route # Maximum depth: 112.184339 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 57.892003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803956; longitude = -122.064901; duration = 202; initialDepth = 57.202878; finalDepth = 57.892003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.185949 # Actual altitude: 52.185949 # Commanded vehicle depth: 57.892003 # Seafloor depth: -110.064238 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 110 # Segment length 163.244635 meters # Minimum depth: 107.202878 meters looking forward 200.000000 meters along route # Maximum depth: 108.558664 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 57.202878 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804737; longitude = -122.065484; duration = 326; # abortOnTimeout = True; initialDepth = 56.926076; finalDepth = 57.202878; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.172235 # Actual altitude: 52.172235 # Commanded vehicle depth: 57.202878 # Seafloor depth: -107.962296 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 110 # Segment length 100.202583 meters # Minimum depth: 106.926076 meters looking forward 200.000000 meters along route # Maximum depth: 108.132385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 56.926076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805488; longitude = -122.067058; duration = 200; initialDepth = 56.803090; finalDepth = 56.926076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.882815 # Actual altitude: 50.882815 # Commanded vehicle depth: 56.926076 # Seafloor depth: -107.808891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 110 # Segment length 104.591511 meters # Minimum depth: 106.803090 meters looking forward 200.000000 meters along route # Maximum depth: 108.132385 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 56.803090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805949; longitude = -122.068024; duration = 209; initialDepth = 51.611545; finalDepth = 56.803090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.882815 # Actual altitude: 50.882815 # Commanded vehicle depth: 56.80309 # Seafloor depth: -107.340492 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 110 # Segment length 108.689178 meters # Minimum depth: 101.611545 meters looking forward 200.000000 meters along route # Maximum depth: 107.526078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.611545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806430; longitude = -122.069032; duration = 217; initialDepth = 51.415944; finalDepth = 51.611545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.273565 # Actual altitude: 54.273565 # Commanded vehicle depth: 51.611545 # Seafloor depth: -105.885110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.28; 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 110 # Segment length 100.492342 meters # Minimum depth: 101.415944 meters looking forward 200.000000 meters along route # Maximum depth: 104.559422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.415944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806930; longitude = -122.070080; duration = 200; initialDepth = 51.294409; finalDepth = 51.415944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.273565 # Actual altitude: 54.273565 # Commanded vehicle depth: 51.415944 # Seafloor depth: -101.587873 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.28; 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 110 # Segment length 108.449041 meters # Minimum depth: 101.294409 meters looking forward 200.000000 meters along route # Maximum depth: 101.871235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.294409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807392; longitude = -122.071049; duration = 216; initialDepth = 51.294409; finalDepth = 51.294409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.263263 # Actual altitude: 50.263263 # Commanded vehicle depth: 51.294409 # Seafloor depth: -101.557672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 109 # Segment length 112.726449 meters # Minimum depth: 101.294409 meters looking forward 200.000000 meters along route # Maximum depth: 102.263279 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.294409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807891; longitude = -122.072094; duration = 225; # abortOnTimeout = True; initialDepth = 51.751214; finalDepth = 51.294409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.358022 # Actual altitude: 50.358022 # Commanded vehicle depth: 51.294409 # Seafloor depth: -101.652431 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 109 # Segment length 107.299068 meters # Minimum depth: 101.751214 meters looking forward 200.000000 meters along route # Maximum depth: 102.893980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.751214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808414; longitude = -122.073177; duration = 214; initialDepth = 52.190823; finalDepth = 51.751214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.373303 # Actual altitude: 50.373303 # Commanded vehicle depth: 51.751214 # Seafloor depth: -102.124517 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 109 # Segment length 102.576408 meters # Minimum depth: 102.190823 meters looking forward 200.000000 meters along route # Maximum depth: 103.247994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.190823 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808913; longitude = -122.074208; duration = 205; initialDepth = 52.636134; finalDepth = 52.190823; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.751484 # Actual altitude: 50.751484 # Commanded vehicle depth: 52.190823 # Seafloor depth: -102.942307 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 109 # Segment length 104.936980 meters # Minimum depth: 102.636134 meters looking forward 200.000000 meters along route # Maximum depth: 103.247994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.636134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809389; longitude = -122.075194; duration = 209; initialDepth = 52.636134; finalDepth = 52.636134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.751484 # Actual altitude: 50.751484 # Commanded vehicle depth: 52.636134 # Seafloor depth: -102.930509 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 109 # Segment length 104.936475 meters # Minimum depth: 102.636134 meters looking forward 200.000000 meters along route # Maximum depth: 103.739353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.636134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809876; longitude = -122.076202; duration = 209; initialDepth = 52.851688; finalDepth = 52.636134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.294375 # Actual altitude: 50.294375 # Commanded vehicle depth: 52.636134 # Seafloor depth: -102.780675 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.09; 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 109 # Segment length 104.935969 meters # Minimum depth: 102.851688 meters looking forward 200.000000 meters along route # Maximum depth: 105.002079 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.851688 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810363; longitude = -122.077210; duration = 209; initialDepth = 53.825838; finalDepth = 52.851688; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.735784 # Actual altitude: 50.735784 # Commanded vehicle depth: 52.851688 # Seafloor depth: -103.587472 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.22; 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 109 # Segment length 106.677531 meters # Minimum depth: 103.825838 meters looking forward 200.000000 meters along route # Maximum depth: 106.422292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 53.825838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810851; longitude = -122.078219; duration = 213; initialDepth = 55.087323; finalDepth = 53.825838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.451254 # Actual altitude: 51.451254 # Commanded vehicle depth: 53.825838 # Seafloor depth: -105.277092 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.44; 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 109 # Segment length 103.192890 meters # Minimum depth: 105.087323 meters looking forward 200.000000 meters along route # Maximum depth: 108.700460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 55.087323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811346; longitude = -122.079244; duration = 206; initialDepth = 56.953600; finalDepth = 55.087323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.451254 # Actual altitude: 51.451254 # Commanded vehicle depth: 55.087323 # Seafloor depth: -106.508960 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.44; 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 109 # Segment length 104.934453 meters # Minimum depth: 106.953600 meters looking forward 200.000000 meters along route # Maximum depth: 111.027445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 56.953600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811825; longitude = -122.080235; duration = 209; initialDepth = 58.812877; finalDepth = 56.953600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.677326 # Actual altitude: 51.677326 # Commanded vehicle depth: 56.9536 # Seafloor depth: -108.630926 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 109 # Segment length 104.933947 meters # Minimum depth: 108.812877 meters looking forward 200.000000 meters along route # Maximum depth: 111.415862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 58.812877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812312; longitude = -122.081243; duration = 209; initialDepth = 61.038698; finalDepth = 58.812877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.351587 # Actual altitude: 52.351587 # Commanded vehicle depth: 58.812877 # Seafloor depth: -111.164464 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 109 # Segment length 101.088274 meters # Minimum depth: 111.038698 meters looking forward 200.000000 meters along route # Maximum depth: 111.982693 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.038698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812800; longitude = -122.082252; duration = 202; initialDepth = 61.465925; finalDepth = 61.038698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.351587 # Actual altitude: 52.351587 # Commanded vehicle depth: 61.038698 # Seafloor depth: -111.169464 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 108 # Segment length 139.038092 meters # Minimum depth: 111.465925 meters looking forward 200.000000 meters along route # Maximum depth: 114.920159 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.465925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.813269; longitude = -122.083223; duration = 278; # abortOnTimeout = True; initialDepth = 62.670124; finalDepth = 61.465925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.445936 # Actual altitude: 50.445936 # Commanded vehicle depth: 61.465925 # Seafloor depth: -111.911861 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 108 # Segment length 100.150322 meters # Minimum depth: 112.670124 meters looking forward 200.000000 meters along route # Maximum depth: 118.169004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 62.670124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.812265; longitude = -122.084156; duration = 200; initialDepth = 65.232002; finalDepth = 62.670124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4767 # Actual altitude: 52.4767 # Commanded vehicle depth: 62.670124 # Seafloor depth: -115.146824 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 108 # Segment length 100.150639 meters # Minimum depth: 115.232002 meters looking forward 200.000000 meters along route # Maximum depth: 127.279124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.232002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811542; longitude = -122.084828; duration = 200; initialDepth = 69.568112; finalDepth = 65.232002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.073418 # Actual altitude: 54.073418 # Commanded vehicle depth: 65.232002 # Seafloor depth: -119.305420 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 101.771299 meters # Minimum depth: 119.568112 meters looking forward 200.000000 meters along route # Maximum depth: 127.279124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 69.568112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810819; longitude = -122.085501; duration = 203; initialDepth = 71.187357; finalDepth = 69.568112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.073418 # Actual altitude: 54.073418 # Commanded vehicle depth: 69.568112 # Seafloor depth: -121.342725 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 104.050305 meters # Minimum depth: 121.187357 meters looking forward 200.000000 meters along route # Maximum depth: 124.682847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 71.187357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810084; longitude = -122.086184; duration = 208; initialDepth = 72.781655; finalDepth = 71.187357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.094101 # Actual altitude: 52.094101 # Commanded vehicle depth: 71.187357 # Seafloor depth: -123.281458 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 107 # Segment length 92.040311 meters # Minimum depth: 122.781655 meters looking forward 200.000000 meters along route # Maximum depth: 124.892011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 72.781655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809333; longitude = -122.086882; duration = 184; # abortOnTimeout = True; initialDepth = 72.781655; finalDepth = 72.781655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.094101 # Actual altitude: 52.094101 # Commanded vehicle depth: 72.781655 # Seafloor depth: -123.968513 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 107 # Segment length 105.128986 meters # Minimum depth: 122.781655 meters looking forward 200.000000 meters along route # Maximum depth: 143.868411 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 72.781655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808618; longitude = -122.087405; duration = 210; initialDepth = 74.892011; finalDepth = 72.781655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.223553 # Actual altitude: 52.223553 # Commanded vehicle depth: 72.781655 # Seafloor depth: -125.005208 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 106 # Segment length 88.538697 meters # Minimum depth: 124.892011 meters looking forward 200.000000 meters along route # Maximum depth: 163.223993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.892011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807801; longitude = -122.088003; duration = 177; # abortOnTimeout = True; initialDepth = 93.484724; finalDepth = 74.892011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.387062 # Actual altitude: 69.387062 # Commanded vehicle depth: 74.892011 # Seafloor depth: -144.279073 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; 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 106 # Segment length 102.160242 meters # Minimum depth: 143.484724 meters looking forward 200.000000 meters along route # Maximum depth: 173.060854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 93.484724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807636; longitude = -122.088974; duration = 204; initialDepth = 93.770164; finalDepth = 93.484724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.289249 # Actual altitude: 71.289249 # Commanded vehicle depth: 93.484724 # Seafloor depth: -164.773973 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 102.160464 meters # Minimum depth: 143.770164 meters looking forward 200.000000 meters along route # Maximum depth: 173.060854 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 93.770164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807445; longitude = -122.090094; duration = 204; initialDepth = 88.759925; finalDepth = 93.770164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.289249 # Actual altitude: 71.289249 # Commanded vehicle depth: 93.770164 # Seafloor depth: -164.842942 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 108.971407 meters # Minimum depth: 138.759925 meters looking forward 200.000000 meters along route # Maximum depth: 161.194316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 88.759925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807254; longitude = -122.091214; duration = 217; initialDepth = 88.015233; finalDepth = 88.759925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.072778 # Actual altitude: 71.072778 # Commanded vehicle depth: 88.759925 # Seafloor depth: -142.897844 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 to get to end of line 105 # Segment length 105.551045 meters # Minimum depth: 138.015233 meters looking forward 200.000000 meters along route # Maximum depth: 144.518672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 88.015233 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807050; longitude = -122.092409; duration = 211; # abortOnTimeout = True; initialDepth = 89.405874; finalDepth = 88.015233; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.137919 # Actual altitude: 54.137919 # Commanded vehicle depth: 88.015233 # Seafloor depth: -138.684672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 105 # Segment length 101.781583 meters # Minimum depth: 139.405874 meters looking forward 200.000000 meters along route # Maximum depth: 149.663099 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 89.405874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806209; longitude = -122.092962; duration = 203; initialDepth = 94.849976; finalDepth = 89.405874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.168409 # Actual altitude: 55.168409 # Commanded vehicle depth: 89.405874 # Seafloor depth: -144.574283 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 105 # Segment length 101.781797 meters # Minimum depth: 144.849976 meters looking forward 200.000000 meters along route # Maximum depth: 158.803040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.849976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805398; longitude = -122.093495; duration = 203; initialDepth = 101.089449; finalDepth = 94.849976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.168409 # Actual altitude: 55.168409 # Commanded vehicle depth: 94.849976 # Seafloor depth: -149.823334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 105 # Segment length 101.782011 meters # Minimum depth: 151.089449 meters looking forward 200.000000 meters along route # Maximum depth: 164.128980 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 101.089449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804587; longitude = -122.094028; duration = 203; initialDepth = 110.376460; finalDepth = 101.089449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.952578 # Actual altitude: 57.952578 # Commanded vehicle depth: 101.089449 # Seafloor depth: -159.042027 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 105 # Segment length 101.782226 meters # Minimum depth: 160.376460 meters looking forward 200.000000 meters along route # Maximum depth: 169.766421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 110.376460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803776; longitude = -122.094562; duration = 203; initialDepth = 115.127208; finalDepth = 110.376460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.952578 # Actual altitude: 57.952578 # Commanded vehicle depth: 110.37646 # Seafloor depth: -164.748553 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 105 # Segment length 101.782439 meters # Minimum depth: 165.127208 meters looking forward 200.000000 meters along route # Maximum depth: 178.738138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 115.127208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802964; longitude = -122.095095; duration = 203; initialDepth = 121.353196; finalDepth = 115.127208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.128862 # Actual altitude: 56.128862 # Commanded vehicle depth: 115.127208 # Seafloor depth: -171.256070 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 105 # Segment length 105.552385 meters # Minimum depth: 171.353196 meters looking forward 200.000000 meters along route # Maximum depth: 191.734495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.353196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802153; longitude = -122.095628; duration = 211; initialDepth = 132.773639; finalDepth = 121.353196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.815291 # Actual altitude: 57.815291 # Commanded vehicle depth: 121.353196 # Seafloor depth: -179.168487 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 104 # Segment length 126.900394 meters # Minimum depth: 182.773639 meters looking forward 200.000000 meters along route # Maximum depth: 208.570321 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 132.773639 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801312; longitude = -122.096181; duration = 253; # abortOnTimeout = True; initialDepth = 146.017100; finalDepth = 132.773639; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.348736 # Actual altitude: 59.348736 # Commanded vehicle depth: 132.773639 # Seafloor depth: -192.122375 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.80; 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 104 # Segment length 101.520486 meters # Minimum depth: 196.017100 meters looking forward 200.000000 meters along route # Maximum depth: 224.829397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 146.017100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800261; longitude = -122.096741; duration = 203; initialDepth = 156.397786; finalDepth = 146.017100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.388306 # Actual altitude: 63.388306 # Commanded vehicle depth: 146.0171 # Seafloor depth: -209.405406 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 103 # Segment length 75.511708 meters # Minimum depth: 206.397786 meters looking forward 200.000000 meters along route # Maximum depth: 233.450150 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 156.397786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799420; longitude = -122.097189; duration = 151; # abortOnTimeout = True; initialDepth = 173.055997; finalDepth = 156.397786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.023641 # Actual altitude: 69.023641 # Commanded vehicle depth: 156.397786 # Seafloor depth: -225.421427 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 103 # Segment length 102.480478 meters # Minimum depth: 223.055997 meters looking forward 200.000000 meters along route # Maximum depth: 251.176103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 173.055997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798884; longitude = -122.097712; duration = 204; initialDepth = 182.309662; finalDepth = 173.055997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.023641 # Actual altitude: 69.023641 # Commanded vehicle depth: 173.055997 # Seafloor depth: -234.071897 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 78.482564 meters # Minimum depth: 232.309662 meters looking forward 200.000000 meters along route # Maximum depth: 259.171654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 182.309662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798158; longitude = -122.098422; duration = 156; # abortOnTimeout = True; initialDepth = 198.427614; finalDepth = 182.309662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.392527 # Actual altitude: 69.392527 # Commanded vehicle depth: 182.309662 # Seafloor depth: -251.702189 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; 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 102 # Segment length 103.831379 meters # Minimum depth: 248.427614 meters looking forward 200.000000 meters along route # Maximum depth: 267.721678 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 198.427614 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -122.099129; duration = 207; initialDepth = 211.799988; finalDepth = 198.427614; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.392527 # Actual altitude: 69.392527 # Commanded vehicle depth: 198.427614 # Seafloor depth: -259.452818 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; 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 102 # Segment length 103.588105 meters # Minimum depth: 261.799988 meters looking forward 200.000000 meters along route # Maximum depth: 269.974120 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 211.799988 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797181; longitude = -122.100065; duration = 207; initialDepth = 218.599662; finalDepth = 211.799988; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.025204 # Actual altitude: 61.025204 # Commanded vehicle depth: 211.799988 # Seafloor depth: -266.691118 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.31; 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 to get to end of line 101 # Segment length 136.068810 meters # Minimum depth: 268.599662 meters looking forward 200.000000 meters along route # Maximum depth: 272.754331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 218.599662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796626; longitude = -122.100998; duration = 272; # abortOnTimeout = True; initialDepth = 220.721082; finalDepth = 218.599662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.89113 # Actual altitude: 54.89113 # Commanded vehicle depth: 218.599662 # Seafloor depth: -270.855672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 101 # Segment length 100.455201 meters # Minimum depth: 270.721082 meters looking forward 200.000000 meters along route # Maximum depth: 278.109878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 220.721082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796176; longitude = -122.102417; duration = 200; initialDepth = 223.549124; finalDepth = 220.721082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.25601 # Actual altitude: 52.25601 # Commanded vehicle depth: 220.721082 # Seafloor depth: -272.866182 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 101 # Segment length 100.068444 meters # Minimum depth: 273.549124 meters looking forward 200.000000 meters along route # Maximum depth: 283.467960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 223.549124 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -122.103465; duration = 200; initialDepth = 230.877356; finalDepth = 223.549124; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.077386 # Actual altitude: 55.077386 # Commanded vehicle depth: 223.549124 # Seafloor depth: -278.626510 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 100 # Segment length 145.129340 meters # Minimum depth: 280.877356 meters looking forward 200.000000 meters along route # Maximum depth: 306.371584 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 230.877356 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795514; longitude = -122.104509; duration = 290; # abortOnTimeout = True; initialDepth = 242.057271; finalDepth = 230.877356; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.077386 # Actual altitude: 55.077386 # Commanded vehicle depth: 230.877356 # Seafloor depth: -283.590007 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 100 # Segment length 101.253049 meters # Minimum depth: 292.057271 meters looking forward 200.000000 meters along route # Maximum depth: 323.936603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 242.057271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -122.104252; duration = 202; initialDepth = 259.909569; finalDepth = 242.057271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.797718 # Actual altitude: 66.797718 # Commanded vehicle depth: 242.057271 # Seafloor depth: -308.854989 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.04; 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 100 # Segment length 101.253068 meters # Minimum depth: 309.909569 meters looking forward 200.000000 meters along route # Maximum depth: 340.573232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 259.909569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -122.104072; duration = 202; initialDepth = 277.085200; finalDepth = 259.909569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.797718 # Actual altitude: 66.797718 # Commanded vehicle depth: 259.909569 # Seafloor depth: -324.618287 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.04; 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 100 # Segment length 101.253085 meters # Minimum depth: 327.085200 meters looking forward 200.000000 meters along route # Maximum depth: 361.494285 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 277.085200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792420; longitude = -122.103893; duration = 202; initialDepth = 295.315164; finalDepth = 277.085200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.375095 # Actual altitude: 65.375095 # Commanded vehicle depth: 277.0852 # Seafloor depth: -342.460295 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.61; 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 100 # Segment length 101.253104 meters # Minimum depth: 345.315164 meters looking forward 200.000000 meters along route # Maximum depth: 388.140060 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 295.315164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -122.103714; duration = 202; initialDepth = 312.994921; finalDepth = 295.315164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.259556 # Actual altitude: 67.259556 # Commanded vehicle depth: 295.315164 # Seafloor depth: -362.574720 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 100 # Segment length 101.253121 meters # Minimum depth: 362.994921 meters looking forward 200.000000 meters along route # Maximum depth: 399.977869 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 312.994921 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790617; longitude = -122.103535; duration = 202; initialDepth = 337.205874; finalDepth = 312.994921; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.254609 # Actual altitude: 76.254609 # Commanded vehicle depth: 312.994921 # Seafloor depth: -389.249530 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.88; 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 100 # Segment length 108.003350 meters # Minimum depth: 387.205874 meters looking forward 200.000000 meters along route # Maximum depth: 434.032147 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 337.205874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789716; longitude = -122.103355; duration = 216; initialDepth = 365.740528; finalDepth = 337.205874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 76.254609 # Actual altitude: 76.254609 # Commanded vehicle depth: 337.205874 # Seafloor depth: -400.619430 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.88; 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 to get to end of line 99 # Segment length 116.477958 meters # Minimum depth: 415.740528 meters looking forward 200.000000 meters along route # Maximum depth: 452.763780 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 365.740528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788755; longitude = -122.103164; duration = 232; # abortOnTimeout = True; initialDepth = 381.789321; finalDepth = 365.740528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.570833 # Actual altitude: 68.570833 # Commanded vehicle depth: 365.740528 # Seafloor depth: -434.311361 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.57; 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 99 # Segment length 109.197622 meters # Minimum depth: 431.789321 meters looking forward 200.000000 meters along route # Maximum depth: 452.866506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 381.789321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789177; longitude = -122.101969; duration = 218; initialDepth = 389.058764; finalDepth = 381.789321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.077185 # Actual altitude: 71.077185 # Commanded vehicle depth: 381.789321 # Seafloor depth: -452.866506 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 99 # Segment length 105.557275 meters # Minimum depth: 439.058764 meters looking forward 200.000000 meters along route # Maximum depth: 451.898007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 389.058764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789574; longitude = -122.100849; duration = 211; initialDepth = 398.855873; finalDepth = 389.058764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.077185 # Actual altitude: 71.077185 # Commanded vehicle depth: 389.058764 # Seafloor depth: -443.972798 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 to get to end of line 98 # Segment length 163.410524 meters # Minimum depth: 448.855873 meters looking forward 200.000000 meters along route # Maximum depth: 523.052386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 398.855873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789957; longitude = -122.099766; duration = 326; # abortOnTimeout = True; initialDepth = 408.185448; finalDepth = 398.855873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.791303 # Actual altitude: 58.791303 # Commanded vehicle depth: 398.855873 # Seafloor depth: -457.647176 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 97.905522 meters # Minimum depth: 458.185448 meters looking forward 200.000000 meters along route # Maximum depth: 523.052386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 408.185448 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790377; longitude = -122.098011; duration = 195; # abortOnTimeout = True; initialDepth = 367.195077; finalDepth = 408.185448; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.701271 # Actual altitude: 100 # Commanded vehicle depth: 408.185448 # Seafloor depth: -522.886719 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 97 # Segment length 100.573553 meters # Minimum depth: 417.195077 meters looking forward 200.000000 meters along route # Maximum depth: 522.886719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 367.195077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791251; longitude = -122.098160; duration = 201; initialDepth = 331.868498; finalDepth = 367.195077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 114.701271 # Actual altitude: 100 # Commanded vehicle depth: 367.195077 # Seafloor depth: -462.953771 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 97 # Segment length 100.921549 meters # Minimum depth: 381.868498 meters looking forward 200.000000 meters along route # Maximum depth: 451.181114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 331.868498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -122.098314; duration = 201; initialDepth = 314.326289; finalDepth = 331.868498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.758694 # Actual altitude: 95.758694 # Commanded vehicle depth: 331.868498 # Seafloor depth: -415.302785 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.73; 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 97 # Segment length 100.921540 meters # Minimum depth: 364.326289 meters looking forward 200.000000 meters along route # Maximum depth: 414.169126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 314.326289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793051; longitude = -122.098468; duration = 201; initialDepth = 288.045546; finalDepth = 314.326289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.434287 # Actual altitude: 83.434287 # Commanded vehicle depth: 314.326289 # Seafloor depth: -378.893632 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.03; 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 97 # Segment length 100.921529 meters # Minimum depth: 338.045546 meters looking forward 200.000000 meters along route # Maximum depth: 378.251970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 288.045546 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -122.098622; duration = 201; initialDepth = 260.375811; finalDepth = 288.045546; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.705462 # Actual altitude: 70.705462 # Commanded vehicle depth: 288.045546 # Seafloor depth: -358.751008 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.921520 meters # Minimum depth: 310.375811 meters looking forward 200.000000 meters along route # Maximum depth: 358.754747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 260.375811 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794853; longitude = -122.098776; duration = 201; initialDepth = 236.950522; finalDepth = 260.375811; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.570335 # Actual altitude: 74.570335 # Commanded vehicle depth: 260.375811 # Seafloor depth: -334.946146 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 97 # Segment length 107.649610 meters # Minimum depth: 286.950522 meters looking forward 200.000000 meters along route # Maximum depth: 332.151335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 236.950522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795754; longitude = -122.098929; duration = 215; initialDepth = 225.483836; finalDepth = 236.950522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 74.570335 # Actual altitude: 74.570335 # Commanded vehicle depth: 236.950522 # Seafloor depth: -309.582329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 96 # Segment length 156.460966 meters # Minimum depth: 275.483836 meters looking forward 200.000000 meters along route # Maximum depth: 293.504986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 225.483836 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796716; longitude = -122.099094; duration = 312; # abortOnTimeout = True; initialDepth = 208.677148; finalDepth = 225.483836; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.631807 # Actual altitude: 72.631807 # Commanded vehicle depth: 225.483836 # Seafloor depth: -285.753825 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.79; 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 to get to end of line 95 # Segment length 104.638814 meters # Minimum depth: 258.677148 meters looking forward 200.000000 meters along route # Maximum depth: 282.780045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 208.677148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797347; longitude = -122.097525; duration = 209; # abortOnTimeout = True; initialDepth = 191.932259; finalDepth = 208.677148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.161068 # Actual altitude: 66.161068 # Commanded vehicle depth: 208.677148 # Seafloor depth: -274.838216 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.85; 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 95 # Segment length 104.638461 meters # Minimum depth: 241.932259 meters looking forward 200.000000 meters along route # Maximum depth: 271.186393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 191.932259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798098; longitude = -122.096816; duration = 209; initialDepth = 175.925584; finalDepth = 191.932259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.161068 # Actual altitude: 66.161068 # Commanded vehicle depth: 191.932259 # Seafloor depth: -256.880798 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.85; 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 94 # Segment length 107.316124 meters # Minimum depth: 225.925584 meters looking forward 200.000000 meters along route # Maximum depth: 254.786539 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 175.925584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798849; longitude = -122.096106; duration = 214; # abortOnTimeout = True; initialDepth = 159.317867; finalDepth = 175.925584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.536574 # Actual altitude: 65.536574 # Commanded vehicle depth: 175.925584 # Seafloor depth: -241.462158 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.66; 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 94 # Segment length 107.315916 meters # Minimum depth: 209.317867 meters looking forward 200.000000 meters along route # Maximum depth: 238.664708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 159.317867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799720; longitude = -122.095583; duration = 214; initialDepth = 149.021547; finalDepth = 159.317867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.536574 # Actual altitude: 65.536574 # Commanded vehicle depth: 159.317867 # Seafloor depth: -223.884659 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.66; 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 to get to end of line 93 # Segment length 148.252031 meters # Minimum depth: 199.021547 meters looking forward 200.000000 meters along route # Maximum depth: 213.734117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 149.021547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800591; longitude = -122.095061; duration = 296; # abortOnTimeout = True; initialDepth = 142.127248; finalDepth = 149.021547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.566792 # Actual altitude: 64.566792 # Commanded vehicle depth: 149.021547 # Seafloor depth: -209.041606 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 93 # Segment length 101.080642 meters # Minimum depth: 192.127248 meters looking forward 200.000000 meters along route # Maximum depth: 204.162091 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 142.127248 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801753; longitude = -122.094239; duration = 202; initialDepth = 132.585554; finalDepth = 142.127248; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.020059 # Actual altitude: 60.020059 # Commanded vehicle depth: 142.127248 # Seafloor depth: -198.791361 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 93 # Segment length 101.080407 meters # Minimum depth: 182.585554 meters looking forward 200.000000 meters along route # Maximum depth: 198.660866 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 132.585554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802545; longitude = -122.093679; duration = 202; initialDepth = 125.568175; finalDepth = 132.585554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.145625 # Actual altitude: 59.145625 # Commanded vehicle depth: 132.585554 # Seafloor depth: -191.731179 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.74; 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 93 # Segment length 102.009645 meters # Minimum depth: 175.568175 meters looking forward 200.000000 meters along route # Maximum depth: 191.165506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 125.568175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803337; longitude = -122.093119; duration = 204; initialDepth = 121.863445; finalDepth = 125.568175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.145625 # Actual altitude: 59.145625 # Commanded vehicle depth: 125.568175 # Seafloor depth: -182.512357 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.74; 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 93 # Segment length 103.519795 meters # Minimum depth: 171.863445 meters looking forward 200.000000 meters along route # Maximum depth: 181.998974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.863445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804136; longitude = -122.092553; duration = 207; initialDepth = 121.863445; finalDepth = 121.863445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.944182 # Actual altitude: 56.944182 # Commanded vehicle depth: 121.863445 # Seafloor depth: -175.464542 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 93 # Segment length 111.187653 meters # Minimum depth: 171.863445 meters looking forward 200.000000 meters along route # Maximum depth: 176.417003 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.863445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804947; longitude = -122.091980; duration = 222; initialDepth = 124.332205; finalDepth = 121.863445; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.601097 # Actual altitude: 53.601097 # Commanded vehicle depth: 121.863445 # Seafloor depth: -172.259015 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 92 # Segment length 147.914165 meters # Minimum depth: 174.332205 meters looking forward 200.000000 meters along route # Maximum depth: 228.842038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 124.332205 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805818; longitude = -122.091364; duration = 295; # abortOnTimeout = True; initialDepth = 139.536853; finalDepth = 124.332205; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.547006 # Actual altitude: 50.547006 # Commanded vehicle depth: 124.332205 # Seafloor depth: -174.879211 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 92 # Segment length 106.253243 meters # Minimum depth: 189.536853 meters looking forward 200.000000 meters along route # Maximum depth: 228.842038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 139.536853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806151; longitude = -122.089758; duration = 212; initialDepth = 104.970809; finalDepth = 139.536853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.660556 # Actual altitude: 88.660556 # Commanded vehicle depth: 139.536853 # Seafloor depth: -228.197409 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.60; 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 92 # Segment length 107.017364 meters # Minimum depth: 154.970809 meters looking forward 200.000000 meters along route # Maximum depth: 227.535658 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.970809 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806389; longitude = -122.088604; duration = 214; initialDepth = 90.020309; finalDepth = 104.970809; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 88.660556 # Actual altitude: 88.660556 # Commanded vehicle depth: 104.970809 # Seafloor depth: -188.554291 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.60; 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 to get to end of line 91 # Segment length 148.600631 meters # Minimum depth: 140.020309 meters looking forward 200.000000 meters along route # Maximum depth: 166.008334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.020309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806629; longitude = -122.087442; duration = 297; # abortOnTimeout = True; initialDepth = 87.928313; finalDepth = 90.020309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 83.583482 # Actual altitude: 83.583482 # Commanded vehicle depth: 90.020309 # Seafloor depth: -154.904816 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.08; 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; } # ####################################################### # # 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 90 # Segment length 117.298040 meters # Minimum depth: 137.928313 meters looking forward 200.000000 meters along route # Maximum depth: 143.201643 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 87.928313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807531; longitude = -122.086210; duration = 234; # abortOnTimeout = True; initialDepth = 87.928313; finalDepth = 87.928313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.884507 # Actual altitude: 64.884507 # Commanded vehicle depth: 87.928313 # Seafloor depth: -139.490133 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.47; 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 90 # Segment length 100.540822 meters # Minimum depth: 137.928313 meters looking forward 200.000000 meters along route # Maximum depth: 144.685443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 87.928313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808372; longitude = -122.085413; duration = 201; initialDepth = 90.218226; finalDepth = 87.928313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.295749 # Actual altitude: 55.295749 # Commanded vehicle depth: 87.928313 # Seafloor depth: -143.224062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.59; 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 90 # Segment length 101.061572 meters # Minimum depth: 140.218226 meters looking forward 200.000000 meters along route # Maximum depth: 160.513337 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.218226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809093; longitude = -122.084731; duration = 202; initialDepth = 81.681955; finalDepth = 90.218226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.295749 # Actual altitude: 55.295749 # Commanded vehicle depth: 90.218226 # Seafloor depth: -142.044835 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.59; 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 90 # Segment length 100.019096 meters # Minimum depth: 131.681955 meters looking forward 200.000000 meters along route # Maximum depth: 161.249648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 81.681955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809818; longitude = -122.084044; duration = 200; initialDepth = 65.274413; finalDepth = 81.681955; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.871596 # Actual altitude: 78.871596 # Commanded vehicle depth: 81.681955 # Seafloor depth: -160.553551 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 90 # Segment length 108.928959 meters # Minimum depth: 115.274413 meters looking forward 200.000000 meters along route # Maximum depth: 161.249648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.274413 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810535; longitude = -122.083365; duration = 217; initialDepth = 61.805509; finalDepth = 65.274413; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.871596 # Actual altitude: 78.871596 # Commanded vehicle depth: 65.274413 # Seafloor depth: -131.454983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 89 # Segment length 141.165465 meters # Minimum depth: 111.805509 meters looking forward 200.000000 meters along route # Maximum depth: 118.629577 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.805509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.811316; longitude = -122.082625; duration = 282; # abortOnTimeout = True; initialDepth = 59.867767; finalDepth = 61.805509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.18057 # Actual altitude: 66.18057 # Commanded vehicle depth: 61.805509 # Seafloor depth: -114.902121 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.85; 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 89 # Segment length 100.821113 meters # Minimum depth: 109.867767 meters looking forward 200.000000 meters along route # Maximum depth: 114.082734 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 59.867767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810625; longitude = -122.081296; duration = 201; initialDepth = 58.977110; finalDepth = 59.867767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.096612 # Actual altitude: 53.096612 # Commanded vehicle depth: 59.867767 # Seafloor depth: -111.706294 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.93; 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 89 # Segment length 101.699536 meters # Minimum depth: 108.977110 meters looking forward 200.000000 meters along route # Maximum depth: 111.595689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 58.977110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.810131; longitude = -122.080347; duration = 203; initialDepth = 58.977110; finalDepth = 58.977110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.838527 # Actual altitude: 51.838527 # Commanded vehicle depth: 58.97711 # Seafloor depth: -109.735561 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 89 # Segment length 100.628285 meters # Minimum depth: 108.977110 meters looking forward 200.000000 meters along route # Maximum depth: 110.772932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 58.977110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809634; longitude = -122.079390; duration = 201; initialDepth = 59.966621; finalDepth = 58.977110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.758451 # Actual altitude: 50.758451 # Commanded vehicle depth: 58.97711 # Seafloor depth: -109.144052 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 89 # Segment length 107.115496 meters # Minimum depth: 109.966621 meters looking forward 200.000000 meters along route # Maximum depth: 111.223944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 59.966621 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809141; longitude = -122.078443; duration = 214; initialDepth = 59.220347; finalDepth = 59.966621; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.852773 # Actual altitude: 50.852773 # Commanded vehicle depth: 59.966621 # Seafloor depth: -110.819394 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 89 # Segment length 107.116029 meters # Minimum depth: 109.220347 meters looking forward 200.000000 meters along route # Maximum depth: 111.223944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 59.220347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808617; longitude = -122.077434; duration = 214; initialDepth = 59.220347; finalDepth = 59.220347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.441413 # Actual altitude: 51.441413 # Commanded vehicle depth: 59.220347 # Seafloor depth: -110.661760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.43; 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 89 # Segment length 108.598601 meters # Minimum depth: 109.220347 meters looking forward 200.000000 meters along route # Maximum depth: 111.355128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 59.220347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808092; longitude = -122.076426; duration = 217; initialDepth = 60.257757; finalDepth = 59.220347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.441413 # Actual altitude: 51.441413 # Commanded vehicle depth: 59.220347 # Seafloor depth: -109.950407 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.43; 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 89 # Segment length 105.635052 meters # Minimum depth: 110.257757 meters looking forward 200.000000 meters along route # Maximum depth: 111.355128 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 60.257757 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807561; longitude = -122.075404; duration = 211; initialDepth = 60.429765; finalDepth = 60.257757; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.73006 # Actual altitude: 50.73006 # Commanded vehicle depth: 60.257757 # Seafloor depth: -110.257757 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.22; 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 89 # Segment length 103.099230 meters # Minimum depth: 110.429765 meters looking forward 200.000000 meters along route # Maximum depth: 114.668323 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 60.429765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807044; longitude = -122.074409; duration = 206; initialDepth = 64.273266; finalDepth = 60.429765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.75693 # Actual altitude: 50.75693 # Commanded vehicle depth: 60.429765 # Seafloor depth: -111.186695 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 88 # Segment length 178.774067 meters # Minimum depth: 114.273266 meters looking forward 200.000000 meters along route # Maximum depth: 118.645394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 64.273266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806539; longitude = -122.073439; duration = 357; # abortOnTimeout = True; initialDepth = 66.780593; finalDepth = 64.273266; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.75693 # Actual altitude: 50.75693 # Commanded vehicle depth: 64.273266 # Seafloor depth: -114.930700 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 88 # Segment length 106.120299 meters # Minimum depth: 116.780593 meters looking forward 200.000000 meters along route # Maximum depth: 118.645394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 66.780593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805710; longitude = -122.071721; duration = 212; initialDepth = 66.780593; finalDepth = 66.780593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.657434 # Actual altitude: 50.657434 # Commanded vehicle depth: 66.780593 # Seafloor depth: -117.183249 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 88 # Segment length 103.688074 meters # Minimum depth: 116.780593 meters looking forward 200.000000 meters along route # Maximum depth: 118.961320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 66.780593 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805218; longitude = -122.070701; duration = 207; initialDepth = 67.259348; finalDepth = 66.780593; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.402656 # Actual altitude: 50.402656 # Commanded vehicle depth: 66.780593 # Seafloor depth: -117.054624 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 88 # Segment length 104.904944 meters # Minimum depth: 117.259348 meters looking forward 200.000000 meters along route # Maximum depth: 120.545378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 67.259348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804737; longitude = -122.069704; duration = 209; initialDepth = 69.156255; finalDepth = 67.259348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.716384 # Actual altitude: 51.716384 # Commanded vehicle depth: 67.259348 # Seafloor depth: -118.975732 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.51; 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 88 # Segment length 104.905449 meters # Minimum depth: 119.156255 meters looking forward 200.000000 meters along route # Maximum depth: 123.356719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 69.156255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804250; longitude = -122.068696; duration = 209; initialDepth = 71.326331; finalDepth = 69.156255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.801624 # Actual altitude: 51.801624 # Commanded vehicle depth: 69.156255 # Seafloor depth: -120.957879 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.54; 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 88 # Segment length 100.981974 meters # Minimum depth: 121.326331 meters looking forward 200.000000 meters along route # Maximum depth: 123.747666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 71.326331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803763; longitude = -122.067688; duration = 201; initialDepth = 73.174374; finalDepth = 71.326331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.045429 # Actual altitude: 52.045429 # Commanded vehicle depth: 71.326331 # Seafloor depth: -123.371760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 87 # Segment length 131.822099 meters # Minimum depth: 123.174374 meters looking forward 200.000000 meters along route # Maximum depth: 126.485360 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 73.174374 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803295; longitude = -122.066717; duration = 263; # abortOnTimeout = True; initialDepth = 74.606511; finalDepth = 73.174374; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.045429 # Actual altitude: 52.045429 # Commanded vehicle depth: 73.174374 # Seafloor depth: -123.281477 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 87 # Segment length 101.679794 meters # Minimum depth: 124.606511 meters looking forward 200.000000 meters along route # Maximum depth: 131.417735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.606511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802243; longitude = -122.066029; duration = 203; initialDepth = 77.064423; finalDepth = 74.606511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.380348 # Actual altitude: 52.380348 # Commanded vehicle depth: 74.606511 # Seafloor depth: -126.986859 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 87 # Segment length 101.680025 meters # Minimum depth: 127.064423 meters looking forward 200.000000 meters along route # Maximum depth: 134.481439 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 77.064423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801432; longitude = -122.065498; duration = 203; initialDepth = 81.653945; finalDepth = 77.064423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5121 # Actual altitude: 54.5121 # Commanded vehicle depth: 77.064423 # Seafloor depth: -131.576523 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 87 # Segment length 101.680256 meters # Minimum depth: 131.653945 meters looking forward 200.000000 meters along route # Maximum depth: 139.989719 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 81.653945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800621; longitude = -122.064968; duration = 203; initialDepth = 85.193303; finalDepth = 81.653945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.5121 # Actual altitude: 54.5121 # Commanded vehicle depth: 81.653945 # Seafloor depth: -134.796274 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 87 # Segment length 106.991853 meters # Minimum depth: 135.193303 meters looking forward 200.000000 meters along route # Maximum depth: 146.302847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.193303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799810; longitude = -122.064437; duration = 213; initialDepth = 90.550003; finalDepth = 85.193303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.816822 # Actual altitude: 54.816822 # Commanded vehicle depth: 85.193303 # Seafloor depth: -140.010125 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 87 # Segment length 100.110794 meters # Minimum depth: 140.550003 meters looking forward 200.000000 meters along route # Maximum depth: 150.553073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.550003 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798957; longitude = -122.063878; duration = 200; initialDepth = 98.235272; finalDepth = 90.550003; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.088639 # Actual altitude: 56.088639 # Commanded vehicle depth: 90.550003 # Seafloor depth: -146.638642 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 86 # Segment length 128.717934 meters # Minimum depth: 148.235272 meters looking forward 200.000000 meters along route # Maximum depth: 150.959305 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 98.235272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798158; longitude = -122.063356; duration = 257; # abortOnTimeout = True; initialDepth = 98.421648; finalDepth = 98.235272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.088639 # Actual altitude: 56.088639 # Commanded vehicle depth: 98.235272 # Seafloor depth: -150.959305 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 86 # Segment length 101.574521 meters # Minimum depth: 148.421648 meters looking forward 200.000000 meters along route # Maximum depth: 152.023207 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 98.421648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797148; longitude = -122.062646; duration = 203; initialDepth = 98.421648; finalDepth = 98.421648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.724033 # Actual altitude: 52.724033 # Commanded vehicle depth: 98.421648 # Seafloor depth: -148.865003 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 86 # Segment length 101.574776 meters # Minimum depth: 148.421648 meters looking forward 200.000000 meters along route # Maximum depth: 155.522223 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 98.421648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796351; longitude = -122.062086; duration = 203; initialDepth = 102.903548; finalDepth = 98.421648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.658805 # Actual altitude: 53.658805 # Commanded vehicle depth: 98.421648 # Seafloor depth: -152.080453 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 86 # Segment length 108.407485 meters # Minimum depth: 152.903548 meters looking forward 200.000000 meters along route # Maximum depth: 158.788772 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.903548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795554; longitude = -122.061526; duration = 216; initialDepth = 107.141859; finalDepth = 102.903548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.658805 # Actual altitude: 53.658805 # Commanded vehicle depth: 102.903548 # Seafloor depth: -155.582107 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 151.753453 meters # Minimum depth: 157.141859 meters looking forward 200.000000 meters along route # Maximum depth: 164.567365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 107.141859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794703; longitude = -122.060928; duration = 303; # abortOnTimeout = True; initialDepth = 110.689295; finalDepth = 107.141859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.678559 # Actual altitude: 52.678559 # Commanded vehicle depth: 107.141859 # Seafloor depth: -158.530758 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.80; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 85 # Segment length 102.437926 meters # Minimum depth: 160.689295 meters looking forward 200.000000 meters along route # Maximum depth: 169.105868 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 110.689295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -122.060115; duration = 204; initialDepth = 115.058295; finalDepth = 110.689295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.868655 # Actual altitude: 53.868655 # Commanded vehicle depth: 110.689295 # Seafloor depth: -164.557950 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 85 # Segment length 102.438173 meters # Minimum depth: 165.058295 meters looking forward 200.000000 meters along route # Maximum depth: 174.088642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 115.058295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -122.059567; duration = 204; initialDepth = 119.261265; finalDepth = 115.058295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.943875 # Actual altitude: 53.943875 # Commanded vehicle depth: 115.058295 # Seafloor depth: -169.002170 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 85 # Segment length 102.438419 meters # Minimum depth: 169.261265 meters looking forward 200.000000 meters along route # Maximum depth: 177.945237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 119.261265 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791879; longitude = -122.059018; duration = 204; initialDepth = 123.509989; finalDepth = 119.261265; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.032716 # Actual altitude: 54.032716 # Commanded vehicle depth: 119.261265 # Seafloor depth: -173.293981 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 85 # Segment length 102.438665 meters # Minimum depth: 173.509989 meters looking forward 200.000000 meters along route # Maximum depth: 185.285743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 123.509989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791068; longitude = -122.058469; duration = 204; initialDepth = 128.992507; finalDepth = 123.509989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.839686 # Actual altitude: 54.839686 # Commanded vehicle depth: 123.509989 # Seafloor depth: -178.349675 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 85 # Segment length 102.438911 meters # Minimum depth: 178.992507 meters looking forward 200.000000 meters along route # Maximum depth: 195.752237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 128.992507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790257; longitude = -122.057921; duration = 204; initialDepth = 137.265029; finalDepth = 128.992507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.528588 # Actual altitude: 56.528588 # Commanded vehicle depth: 128.992507 # Seafloor depth: -185.521095 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.96; 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 85 # Segment length 109.977852 meters # Minimum depth: 187.265029 meters looking forward 200.000000 meters along route # Maximum depth: 203.993855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 137.265029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -122.057372; duration = 219; initialDepth = 147.716110; finalDepth = 137.265029; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.660522 # Actual altitude: 58.660522 # Commanded vehicle depth: 137.265029 # Seafloor depth: -195.925551 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 84 # Segment length 92.121662 meters # Minimum depth: 197.716110 meters looking forward 200.000000 meters along route # Maximum depth: 207.365944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 147.716110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788575; longitude = -122.056783; duration = 184; # abortOnTimeout = True; initialDepth = 154.812371; finalDepth = 147.716110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.660522 # Actual altitude: 58.660522 # Commanded vehicle depth: 147.71611 # Seafloor depth: -204.511467 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 84 # Segment length 110.571597 meters # Minimum depth: 204.812371 meters looking forward 200.000000 meters along route # Maximum depth: 215.688770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 154.812371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788002; longitude = -122.056036; duration = 221; initialDepth = 157.733392; finalDepth = 154.812371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.795357 # Actual altitude: 56.795357 # Commanded vehicle depth: 154.812371 # Seafloor depth: -207.378731 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 84 # Segment length 101.416571 meters # Minimum depth: 207.733392 meters looking forward 200.000000 meters along route # Maximum depth: 231.058735 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 157.733392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787313; longitude = -122.055140; duration = 202; initialDepth = 169.087194; finalDepth = 157.733392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.485323 # Actual altitude: 58.485323 # Commanded vehicle depth: 157.733392 # Seafloor depth: -216.218715 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 83 # Segment length 125.898693 meters # Minimum depth: 219.087194 meters looking forward 200.000000 meters along route # Maximum depth: 247.361927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 169.087194 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786682; longitude = -122.054318; duration = 251; # abortOnTimeout = True; initialDepth = 184.989117; finalDepth = 169.087194; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.385558 # Actual altitude: 63.385558 # Commanded vehicle depth: 169.087194 # Seafloor depth: -232.472752 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 83 # Segment length 105.504507 meters # Minimum depth: 234.989117 meters looking forward 200.000000 meters along route # Maximum depth: 263.518837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 184.989117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785570; longitude = -122.054603; duration = 211; initialDepth = 195.833520; finalDepth = 184.989117; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.40097 # Actual altitude: 65.40097 # Commanded vehicle depth: 184.989117 # Seafloor depth: -250.390087 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.62; 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; } # ####################################################### # # 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 82 # Segment length 114.745790 meters # Minimum depth: 245.833520 meters looking forward 200.000000 meters along route # Maximum depth: 263.518837 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 195.833520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784639; longitude = -122.054841; duration = 229; # abortOnTimeout = True; initialDepth = 182.442354; finalDepth = 195.833520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.275786 # Actual altitude: 67.275786 # Commanded vehicle depth: 195.83352 # Seafloor depth: -263.109306 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 82 # Segment length 104.775192 meters # Minimum depth: 232.442354 meters looking forward 200.000000 meters along route # Maximum depth: 260.138825 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 182.442354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785409; longitude = -122.055700; duration = 209; initialDepth = 170.427423; finalDepth = 182.442354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.275786 # Actual altitude: 67.275786 # Commanded vehicle depth: 182.442354 # Seafloor depth: -244.607660 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 82 # Segment length 107.505909 meters # Minimum depth: 220.427423 meters looking forward 200.000000 meters along route # Maximum depth: 241.331896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 170.427423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786111; longitude = -122.056485; duration = 215; initialDepth = 165.362235; finalDepth = 170.427423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.165306 # Actual altitude: 62.165306 # Commanded vehicle depth: 170.427423 # Seafloor depth: -232.444944 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.65; 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 82 # Segment length 111.948487 meters # Minimum depth: 215.362235 meters looking forward 200.000000 meters along route # Maximum depth: 227.935580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.362235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786832; longitude = -122.057290; duration = 223; initialDepth = 159.521090; finalDepth = 165.362235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.017521 # Actual altitude: 62.017521 # Commanded vehicle depth: 165.362235 # Seafloor depth: -220.106585 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 81 # Segment length 89.078748 meters # Minimum depth: 209.521090 meters looking forward 200.000000 meters along route # Maximum depth: 219.335773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 159.521090 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787583; longitude = -122.058128; duration = 178; # abortOnTimeout = True; initialDepth = 152.802262; finalDepth = 159.521090; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.614263 # Actual altitude: 55.614263 # Commanded vehicle depth: 159.52109 # Seafloor depth: -215.135353 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 81 # Segment length 102.878788 meters # Minimum depth: 202.802262 meters looking forward 200.000000 meters along route # Maximum depth: 215.362235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 152.802262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788285; longitude = -122.058613; duration = 205; initialDepth = 147.607846; finalDepth = 152.802262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.616363 # Actual altitude: 56.616363 # Commanded vehicle depth: 152.802262 # Seafloor depth: -209.418625 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 102.878533 meters # Minimum depth: 197.607846 meters looking forward 200.000000 meters along route # Maximum depth: 208.705450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 147.607846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789095; longitude = -122.059173; duration = 205; initialDepth = 141.847590; finalDepth = 147.607846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.616363 # Actual altitude: 56.616363 # Commanded vehicle depth: 147.607846 # Seafloor depth: -202.706867 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 102.878277 meters # Minimum depth: 191.847590 meters looking forward 200.000000 meters along route # Maximum depth: 201.836775 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 141.847590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789906; longitude = -122.059733; duration = 205; initialDepth = 138.623073; finalDepth = 141.847590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.714193 # Actual altitude: 55.714193 # Commanded vehicle depth: 141.84759 # Seafloor depth: -197.561783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 81 # Segment length 102.878021 meters # Minimum depth: 188.623073 meters looking forward 200.000000 meters along route # Maximum depth: 197.115342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 138.623073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790716; longitude = -122.060293; duration = 205; initialDepth = 137.070342; finalDepth = 138.623073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.714193 # Actual altitude: 55.714193 # Commanded vehicle depth: 138.623073 # Seafloor depth: -191.778253 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 81 # Segment length 102.877765 meters # Minimum depth: 187.070342 meters looking forward 200.000000 meters along route # Maximum depth: 191.245329 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 137.070342 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791527; longitude = -122.060854; duration = 205; initialDepth = 131.763796; finalDepth = 137.070342; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.15518 # Actual altitude: 53.15518 # Commanded vehicle depth: 137.070342 # Seafloor depth: -188.714265 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 81 # Segment length 102.877509 meters # Minimum depth: 181.763796 meters looking forward 200.000000 meters along route # Maximum depth: 189.006608 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 131.763796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792338; longitude = -122.061414; duration = 205; initialDepth = 130.713505; finalDepth = 131.763796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.27414 # Actual altitude: 55.27414 # Commanded vehicle depth: 131.763796 # Seafloor depth: -187.037936 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 109.650542 meters # Minimum depth: 180.713505 meters looking forward 200.000000 meters along route # Maximum depth: 185.984214 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 130.713505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793148; longitude = -122.061974; duration = 219; initialDepth = 130.713505; finalDepth = 130.713505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.27414 # Actual altitude: 55.27414 # Commanded vehicle depth: 130.713505 # Seafloor depth: -181.773632 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 80 # Segment length 140.740083 meters # Minimum depth: 180.713505 meters looking forward 200.000000 meters along route # Maximum depth: 184.246097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 130.713505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794012; longitude = -122.062571; duration = 281; # abortOnTimeout = True; initialDepth = 132.702287; finalDepth = 130.713505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.019146 # Actual altitude: 52.019146 # Commanded vehicle depth: 130.713505 # Seafloor depth: -182.732651 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 80 # Segment length 102.693058 meters # Minimum depth: 182.702287 meters looking forward 200.000000 meters along route # Maximum depth: 188.955537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 132.702287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -122.063331; duration = 205; initialDepth = 134.469163; finalDepth = 132.702287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.019146 # Actual altitude: 52.019146 # Commanded vehicle depth: 132.702287 # Seafloor depth: -184.613918 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 80 # Segment length 102.692806 meters # Minimum depth: 184.469163 meters looking forward 200.000000 meters along route # Maximum depth: 188.955537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.469163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795935; longitude = -122.063886; duration = 205; initialDepth = 130.416258; finalDepth = 134.469163; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.695848 # Actual altitude: 53.695848 # Commanded vehicle depth: 134.469163 # Seafloor depth: -188.165011 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 80 # Segment length 110.291824 meters # Minimum depth: 180.416258 meters looking forward 200.000000 meters along route # Maximum depth: 187.146141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 130.416258 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -122.064440; duration = 220; initialDepth = 118.381161; finalDepth = 130.416258; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.052281 # Actual altitude: 54.052281 # Commanded vehicle depth: 130.416258 # Seafloor depth: -184.468539 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 141.425602 meters # Minimum depth: 168.381161 meters looking forward 200.000000 meters along route # Maximum depth: 183.006864 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 118.381161 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797617; longitude = -122.065036; duration = 282; # abortOnTimeout = True; initialDepth = 109.738164; finalDepth = 118.381161; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.096031 # Actual altitude: 62.096031 # Commanded vehicle depth: 118.381161 # Seafloor depth: -180.477192 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.63; 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 79 # Segment length 103.196601 meters # Minimum depth: 159.738164 meters looking forward 200.000000 meters along route # Maximum depth: 175.739356 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.738164 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798729; longitude = -122.065812; duration = 206; initialDepth = 108.878695; finalDepth = 109.738164; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.096031 # Actual altitude: 62.096031 # Commanded vehicle depth: 109.738164 # Seafloor depth: -167.968709 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.63; 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 79 # Segment length 103.196340 meters # Minimum depth: 158.878695 meters looking forward 200.000000 meters along route # Maximum depth: 166.710681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 108.878695 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799540; longitude = -122.066378; duration = 206; initialDepth = 108.613321; finalDepth = 108.878695; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.230545 # Actual altitude: 58.230545 # Commanded vehicle depth: 108.878695 # Seafloor depth: -160.058397 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 79 # Segment length 103.196079 meters # Minimum depth: 158.613321 meters looking forward 200.000000 meters along route # Maximum depth: 159.928007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 108.613321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800351; longitude = -122.066945; duration = 206; initialDepth = 99.098765; finalDepth = 108.613321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.179702 # Actual altitude: 51.179702 # Commanded vehicle depth: 108.613321 # Seafloor depth: -159.249821 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 79 # Segment length 107.005260 meters # Minimum depth: 149.098765 meters looking forward 200.000000 meters along route # Maximum depth: 159.773528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.098765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801162; longitude = -122.067511; duration = 214; initialDepth = 86.623744; finalDepth = 99.098765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.865645 # Actual altitude: 58.865645 # Commanded vehicle depth: 99.098765 # Seafloor depth: -157.964410 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 78 # Segment length 167.784514 meters # Minimum depth: 136.623744 meters looking forward 200.000000 meters along route # Maximum depth: 152.040815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 86.623744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802003; longitude = -122.068098; duration = 335; # abortOnTimeout = True; initialDepth = 83.171154; finalDepth = 86.623744; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.687711 # Actual altitude: 61.687711 # Commanded vehicle depth: 86.623744 # Seafloor depth: -148.311455 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 105.329371 meters # Minimum depth: 133.171154 meters looking forward 200.000000 meters along route # Maximum depth: 144.843887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 83.171154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802790; longitude = -122.069704; duration = 210; initialDepth = 82.697626; finalDepth = 83.171154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.687711 # Actual altitude: 61.687711 # Commanded vehicle depth: 83.171154 # Seafloor depth: -136.561686 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 105.328860 meters # Minimum depth: 132.697626 meters looking forward 200.000000 meters along route # Maximum depth: 135.983707 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 82.697626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803284; longitude = -122.070712; duration = 210; initialDepth = 82.697626; finalDepth = 82.697626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.390532 # Actual altitude: 53.390532 # Commanded vehicle depth: 82.697626 # Seafloor depth: -132.752672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 78 # Segment length 105.328350 meters # Minimum depth: 132.697626 meters looking forward 200.000000 meters along route # Maximum depth: 135.763371 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 82.697626 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803778; longitude = -122.071721; duration = 210; initialDepth = 84.365980; finalDepth = 82.697626; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.075029 # Actual altitude: 51.075029 # Commanded vehicle depth: 82.697626 # Seafloor depth: -133.772655 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 78 # Segment length 105.586027 meters # Minimum depth: 134.365980 meters looking forward 200.000000 meters along route # Maximum depth: 136.486513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 84.365980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804272; longitude = -122.072729; duration = 211; initialDepth = 80.138305; finalDepth = 84.365980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.34365 # Actual altitude: 51.34365 # Commanded vehicle depth: 84.36598 # Seafloor depth: -135.709630 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 78 # Segment length 108.980868 meters # Minimum depth: 130.138305 meters looking forward 200.000000 meters along route # Maximum depth: 136.486513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 80.138305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804767; longitude = -122.073740; duration = 217; initialDepth = 77.950705; finalDepth = 80.138305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.213286 # Actual altitude: 54.213286 # Commanded vehicle depth: 80.138305 # Seafloor depth: -134.351591 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 77 # Segment length 179.953294 meters # Minimum depth: 127.950705 meters looking forward 200.000000 meters along route # Maximum depth: 130.575679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 77.950705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805278; longitude = -122.074783; duration = 359; # abortOnTimeout = True; initialDepth = 77.950705; finalDepth = 77.950705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.213286 # Actual altitude: 54.213286 # Commanded vehicle depth: 77.950705 # Seafloor depth: -130.136513 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 77 # Segment length 101.457312 meters # Minimum depth: 127.950705 meters looking forward 200.000000 meters along route # Maximum depth: 129.395642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 77.950705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806219; longitude = -122.076426; duration = 202; initialDepth = 74.862350; finalDepth = 77.950705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.185808 # Actual altitude: 52.185808 # Commanded vehicle depth: 77.950705 # Seafloor depth: -128.676891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 77 # Segment length 103.401934 meters # Minimum depth: 124.862350 meters looking forward 200.000000 meters along route # Maximum depth: 129.395642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.862350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806750; longitude = -122.077352; duration = 206; initialDepth = 74.690511; finalDepth = 74.862350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.33701 # Actual altitude: 53.33701 # Commanded vehicle depth: 74.86235 # Seafloor depth: -128.199360 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 77 # Segment length 103.401436 meters # Minimum depth: 124.690511 meters looking forward 200.000000 meters along route # Maximum depth: 135.361547 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.690511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807290; longitude = -122.078296; duration = 206; initialDepth = 74.690511; finalDepth = 74.690511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.33701 # Actual altitude: 53.33701 # Commanded vehicle depth: 74.690511 # Seafloor depth: -125.096691 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 77 # Segment length 108.924048 meters # Minimum depth: 124.690511 meters looking forward 200.000000 meters along route # Maximum depth: 135.425652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.690511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807831; longitude = -122.079241; duration = 217; initialDepth = 81.641933; finalDepth = 74.690511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.735141 # Actual altitude: 60.735141 # Commanded vehicle depth: 74.690511 # Seafloor depth: -135.425652 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 77 # Segment length 110.429898 meters # Minimum depth: 131.641933 meters looking forward 200.000000 meters along route # Maximum depth: 134.251652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 81.641933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808401; longitude = -122.080235; duration = 220; initialDepth = 81.467131; finalDepth = 81.641933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.735141 # Actual altitude: 60.735141 # Commanded vehicle depth: 81.641933 # Seafloor depth: -132.652223 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 77 # Segment length 102.251992 meters # Minimum depth: 131.467131 meters looking forward 200.000000 meters along route # Maximum depth: 151.661665 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 81.467131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808978; longitude = -122.081243; duration = 204; initialDepth = 85.728153; finalDepth = 81.467131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.01029 # Actual altitude: 51.01029 # Commanded vehicle depth: 81.467131 # Seafloor depth: -132.362916 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 76 # Segment length 160.977637 meters # Minimum depth: 135.728153 meters looking forward 200.000000 meters along route # Maximum depth: 223.003046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.728153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.809513; longitude = -122.082177; duration = 321; # abortOnTimeout = True; initialDepth = 140.174484; finalDepth = 85.728153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.054405 # Actual altitude: 52.054405 # Commanded vehicle depth: 85.728153 # Seafloor depth: -137.782558 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 76 # Segment length 101.709782 meters # Minimum depth: 190.174484 meters looking forward 200.000000 meters along route # Maximum depth: 230.796397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 140.174484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.808372; longitude = -122.083292; duration = 203; initialDepth = 152.940612; finalDepth = 140.174484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.250205 # Actual altitude: 83.250205 # Commanded vehicle depth: 140.174484 # Seafloor depth: -223.424689 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.98; 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 76 # Segment length 104.040178 meters # Minimum depth: 202.940612 meters looking forward 200.000000 meters along route # Maximum depth: 230.796397 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 152.940612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807651; longitude = -122.083996; duration = 208; initialDepth = 142.694727; finalDepth = 152.940612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.250205 # Actual altitude: 83.250205 # Commanded vehicle depth: 152.940612 # Seafloor depth: -225.747208 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.98; 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 76 # Segment length 107.829167 meters # Minimum depth: 192.694727 meters looking forward 200.000000 meters along route # Maximum depth: 230.130847 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 142.694727 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806913; longitude = -122.084716; duration = 215; initialDepth = 143.280765; finalDepth = 142.694727; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 72.806596 # Actual altitude: 72.806596 # Commanded vehicle depth: 142.694727 # Seafloor depth: -202.632704 # 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 = 20; 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; } # ####################################################### # # 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 75 # Segment length 164.959602 meters # Minimum depth: 193.280765 meters looking forward 200.000000 meters along route # Maximum depth: 211.124915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 143.280765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806149; longitude = -122.085463; duration = 329; # abortOnTimeout = True; initialDepth = 143.280765; finalDepth = 143.280765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.937977 # Actual altitude: 59.937977 # Commanded vehicle depth: 143.280765 # Seafloor depth: -197.883041 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.98; 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 to get to end of line 74 # Segment length 149.709899 meters # Minimum depth: 193.280765 meters looking forward 200.000000 meters along route # Maximum depth: 270.472314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 143.280765 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805097; longitude = -122.086770; duration = 299; # abortOnTimeout = True; initialDepth = 178.518874; finalDepth = 143.280765; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.602276 # Actual altitude: 54.602276 # Commanded vehicle depth: 143.280765 # Seafloor depth: -197.411560 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 74 # Segment length 102.075200 meters # Minimum depth: 228.518874 meters looking forward 200.000000 meters along route # Maximum depth: 297.900927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 178.518874 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804823; longitude = -122.088413; duration = 204; initialDepth = 186.152507; finalDepth = 178.518874; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.387212 # Actual altitude: 97.387212 # Commanded vehicle depth: 178.518874 # Seafloor depth: -275.906086 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 108.880452 meters # Minimum depth: 236.152507 meters looking forward 200.000000 meters along route # Maximum depth: 297.900927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 186.152507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804636; longitude = -122.089534; duration = 217; initialDepth = 178.888385; finalDepth = 186.152507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 108.387878 # Actual altitude: 100 # Commanded vehicle depth: 186.152507 # Seafloor depth: -294.540385 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 73 # Segment length 148.343995 meters # Minimum depth: 228.888385 meters looking forward 200.000000 meters along route # Maximum depth: 259.702591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 178.888385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804436; longitude = -122.090729; duration = 296; # abortOnTimeout = True; initialDepth = 175.504317; finalDepth = 178.888385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 108.387878 # Actual altitude: 100 # Commanded vehicle depth: 178.888385 # Seafloor depth: -234.032654 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 73 # Segment length 101.143921 meters # Minimum depth: 225.504317 meters looking forward 200.000000 meters along route # Maximum depth: 242.186654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 175.504317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803274; longitude = -122.091550; duration = 202; initialDepth = 175.504317; finalDepth = 175.504317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.956331 # Actual altitude: 58.956331 # Commanded vehicle depth: 175.504317 # Seafloor depth: -234.460648 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 73 # Segment length 101.144157 meters # Minimum depth: 225.504317 meters looking forward 200.000000 meters along route # Maximum depth: 242.186654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 175.504317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802481; longitude = -122.092110; duration = 202; initialDepth = 166.346831; finalDepth = 175.504317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.956331 # Actual altitude: 58.956331 # Commanded vehicle depth: 175.504317 # Seafloor depth: -228.179745 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 73 # Segment length 101.698607 meters # Minimum depth: 216.346831 meters looking forward 200.000000 meters along route # Maximum depth: 235.103252 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 166.346831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801689; longitude = -122.092671; duration = 203; initialDepth = 165.902505; finalDepth = 166.346831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.109362 # Actual altitude: 59.109362 # Commanded vehicle depth: 166.346831 # Seafloor depth: -225.456193 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 73 # Segment length 107.333391 meters # Minimum depth: 215.902505 meters looking forward 200.000000 meters along route # Maximum depth: 224.269518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.902505 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800892; longitude = -122.093234; duration = 214; initialDepth = 167.479995; finalDepth = 165.902505; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.109362 # Actual altitude: 59.109362 # Commanded vehicle depth: 165.902505 # Seafloor depth: -216.304356 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 72 # Segment length 131.772149 meters # Minimum depth: 217.479995 meters looking forward 200.000000 meters along route # Maximum depth: 240.851978 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 167.479995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800050; longitude = -122.093828; duration = 263; # abortOnTimeout = True; initialDepth = 179.380213; finalDepth = 167.479995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.971218 # Actual altitude: 56.971218 # Commanded vehicle depth: 167.479995 # Seafloor depth: -224.451213 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.09; 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 72 # Segment length 100.767143 meters # Minimum depth: 229.380213 meters looking forward 200.000000 meters along route # Maximum depth: 255.283370 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 179.380213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798978; longitude = -122.094463; duration = 201; initialDepth = 202.902119; finalDepth = 179.380213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.853055 # Actual altitude: 61.853055 # Commanded vehicle depth: 179.380213 # Seafloor depth: -241.233268 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.56; 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 71 # Segment length 183.819339 meters # Minimum depth: 252.902119 meters looking forward 200.000000 meters along route # Maximum depth: 284.232615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 202.902119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798158; longitude = -122.094949; duration = 367; # abortOnTimeout = True; initialDepth = 219.311058; finalDepth = 202.902119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.853055 # Actual altitude: 61.853055 # Commanded vehicle depth: 202.902119 # Seafloor depth: -255.927002 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.56; 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 71 # Segment length 105.040146 meters # Minimum depth: 269.311058 meters looking forward 200.000000 meters along route # Maximum depth: 305.023208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 219.311058 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796877; longitude = -122.096256; duration = 210; initialDepth = 238.902270; finalDepth = 219.311058; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.379546 # Actual altitude: 65.379546 # Commanded vehicle depth: 219.311058 # Seafloor depth: -284.690604 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.61; 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 to get to end of line 70 # Segment length 135.862333 meters # Minimum depth: 288.902270 meters looking forward 200.000000 meters along route # Maximum depth: 315.884405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 238.902270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796145; longitude = -122.097002; duration = 271; # abortOnTimeout = True; initialDepth = 248.967582; finalDepth = 238.902270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.948479 # Actual altitude: 69.948479 # Commanded vehicle depth: 238.90227 # Seafloor depth: -308.850749 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.98; 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 70 # Segment length 101.896992 meters # Minimum depth: 298.967582 meters looking forward 200.000000 meters along route # Maximum depth: 315.884405 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 248.967582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795907; longitude = -122.098496; duration = 203; initialDepth = 238.689714; finalDepth = 248.967582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.948479 # Actual altitude: 69.948479 # Commanded vehicle depth: 248.967582 # Seafloor depth: -314.519410 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.98; 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 70 # Segment length 105.293775 meters # Minimum depth: 288.689714 meters looking forward 200.000000 meters along route # Maximum depth: 313.062614 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 238.689714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795729; longitude = -122.099617; duration = 210; initialDepth = 238.689714; finalDepth = 238.689714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.551828 # Actual altitude: 65.551828 # Commanded vehicle depth: 238.689714 # Seafloor depth: -296.562748 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 131.034136 meters # Minimum depth: 288.689714 meters looking forward 200.000000 meters along route # Maximum depth: 293.698080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 238.689714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795544; longitude = -122.100774; duration = 262; # abortOnTimeout = True; initialDepth = 239.278070; finalDepth = 238.689714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.873034 # Actual altitude: 57.873034 # Commanded vehicle depth: 238.689714 # Seafloor depth: -289.004761 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 100.727324 meters # Minimum depth: 289.278070 meters looking forward 200.000000 meters along route # Maximum depth: 297.424986 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 239.278070 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -122.102147; duration = 201; initialDepth = 242.977052; finalDepth = 239.278070; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.116087 # Actual altitude: 53.116087 # Commanded vehicle depth: 239.27807 # Seafloor depth: -292.394157 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.93; 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 69 # Segment length 106.967452 meters # Minimum depth: 292.977052 meters looking forward 200.000000 meters along route # Maximum depth: 304.288834 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 242.977052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794800; longitude = -122.103202; duration = 213; initialDepth = 249.160862; finalDepth = 242.977052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.406753 # Actual altitude: 54.406753 # Commanded vehicle depth: 242.977052 # Seafloor depth: -297.383805 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 69 # Segment length 110.533450 meters # Minimum depth: 299.160862 meters looking forward 200.000000 meters along route # Maximum depth: 309.218601 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 249.160862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794457; longitude = -122.104322; duration = 221; initialDepth = 253.765011; finalDepth = 249.160862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.763334 # Actual altitude: 54.763334 # Commanded vehicle depth: 249.160862 # Seafloor depth: -303.924196 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 68 # Segment length 81.088337 meters # Minimum depth: 303.765011 meters looking forward 200.000000 meters along route # Maximum depth: 323.094859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 253.765011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794102; longitude = -122.105480; duration = 162; # abortOnTimeout = True; initialDepth = 257.956209; finalDepth = 253.765011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.336511 # Actual altitude: 55.336511 # Commanded vehicle depth: 253.765011 # Seafloor depth: -309.101522 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 68 # Segment length 101.360440 meters # Minimum depth: 307.956209 meters looking forward 200.000000 meters along route # Maximum depth: 341.328352 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 257.956209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793381; longitude = -122.105330; duration = 202; initialDepth = 279.554671; finalDepth = 257.956209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.877786 # Actual altitude: 65.877786 # Commanded vehicle depth: 257.956209 # Seafloor depth: -323.833995 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 67 # Segment length 135.340851 meters # Minimum depth: 329.554671 meters looking forward 200.000000 meters along route # Maximum depth: 342.219167 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 279.554671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792480; longitude = -122.105143; duration = 270; # abortOnTimeout = True; initialDepth = 276.426656; finalDepth = 279.554671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.877786 # Actual altitude: 65.877786 # Commanded vehicle depth: 279.554671 # Seafloor depth: -341.533813 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 67 # Segment length 107.547157 meters # Minimum depth: 326.426656 meters looking forward 200.000000 meters along route # Maximum depth: 339.171718 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 276.426656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792961; longitude = -122.103749; duration = 215; initialDepth = 271.236867; finalDepth = 276.426656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.979142 # Actual altitude: 61.979142 # Commanded vehicle depth: 276.426656 # Seafloor depth: -331.996982 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.59; 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 67 # Segment length 108.755114 meters # Minimum depth: 321.236867 meters looking forward 200.000000 meters along route # Maximum depth: 330.954317 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 271.236867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793343; longitude = -122.102641; duration = 217; initialDepth = 268.371246; finalDepth = 271.236867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.570326 # Actual altitude: 55.570326 # Commanded vehicle depth: 271.236867 # Seafloor depth: -326.159983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 67 # Segment length 105.129528 meters # Minimum depth: 318.371246 meters looking forward 200.000000 meters along route # Maximum depth: 324.431498 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.371246 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793729; longitude = -122.101521; duration = 210; initialDepth = 268.435753; finalDepth = 268.371246; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.923116 # Actual altitude: 54.923116 # Commanded vehicle depth: 268.371246 # Seafloor depth: -321.720971 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 66 # Segment length 155.923333 meters # Minimum depth: 318.435753 meters looking forward 200.000000 meters along route # Maximum depth: 337.685807 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.435753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794102; longitude = -122.100438; duration = 311; # abortOnTimeout = True; initialDepth = 275.000096; finalDepth = 268.435753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.349725 # Actual altitude: 53.349725 # Commanded vehicle depth: 268.435753 # Seafloor depth: -318.963338 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 66 # Segment length 101.688884 meters # Minimum depth: 325.000096 meters looking forward 200.000000 meters along route # Maximum depth: 364.260113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 275.000096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794361; longitude = -122.098720; duration = 203; initialDepth = 280.422033; finalDepth = 275.000096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.320088 # Actual altitude: 65.320088 # Commanded vehicle depth: 275.000096 # Seafloor depth: -340.320184 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 105.078308 meters # Minimum depth: 330.422033 meters looking forward 200.000000 meters along route # Maximum depth: 364.260113 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.422033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794529; longitude = -122.097600; duration = 210; initialDepth = 263.807142; finalDepth = 280.422033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.053884 # Actual altitude: 80.053884 # Commanded vehicle depth: 280.422033 # Seafloor depth: -360.475917 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 65 # Segment length 87.041635 meters # Minimum depth: 313.807142 meters looking forward 200.000000 meters along route # Maximum depth: 360.475917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 263.807142 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794703; longitude = -122.096442; duration = 174; # abortOnTimeout = True; initialDepth = 258.160004; finalDepth = 263.807142; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.053884 # Actual altitude: 80.053884 # Commanded vehicle depth: 263.807142 # Seafloor depth: -330.400350 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 65 # Segment length 109.747704 meters # Minimum depth: 308.160004 meters looking forward 200.000000 meters along route # Maximum depth: 330.400350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 258.160004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795075; longitude = -122.095583; duration = 219; initialDepth = 245.282772; finalDepth = 258.160004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.593208 # Actual altitude: 66.593208 # Commanded vehicle depth: 258.160004 # Seafloor depth: -313.740936 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.98; 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 to get to end of line 64 # Segment length 158.498388 meters # Minimum depth: 295.282772 meters looking forward 200.000000 meters along route # Maximum depth: 309.479208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 245.282772 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795544; longitude = -122.094500; duration = 316; # abortOnTimeout = True; initialDepth = 229.001584; finalDepth = 245.282772; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.312728 # Actual altitude: 62.312728 # Commanded vehicle depth: 245.282772 # Seafloor depth: -307.595500 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 64 # Segment length 100.862345 meters # Minimum depth: 279.001584 meters looking forward 200.000000 meters along route # Maximum depth: 304.111319 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 229.001584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796811; longitude = -122.093679; duration = 201; initialDepth = 206.580306; finalDepth = 229.001584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.755001 # Actual altitude: 66.755001 # Commanded vehicle depth: 229.001584 # Seafloor depth: -295.756585 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.03; 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 63 # Segment length 120.193861 meters # Minimum depth: 256.580306 meters looking forward 200.000000 meters along route # Maximum depth: 290.941057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 206.580306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797617; longitude = -122.093156; duration = 240; # abortOnTimeout = True; initialDepth = 191.858974; finalDepth = 206.580306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.389787 # Actual altitude: 70.389787 # Commanded vehicle depth: 206.580306 # Seafloor depth: -276.970093 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 63 # Segment length 109.588390 meters # Minimum depth: 241.858974 meters looking forward 200.000000 meters along route # Maximum depth: 269.460977 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 191.858974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798638; longitude = -122.092707; duration = 219; initialDepth = 191.858974; finalDepth = 191.858974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 70.389787 # Actual altitude: 70.389787 # Commanded vehicle depth: 191.858974 # Seafloor depth: -255.323537 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 62 # Segment length 124.263077 meters # Minimum depth: 241.858974 meters looking forward 200.000000 meters along route # Maximum depth: 253.248037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 191.858974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799570; longitude = -122.092297; duration = 248; # abortOnTimeout = True; initialDepth = 195.426698; finalDepth = 191.858974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.464563 # Actual altitude: 63.464563 # Commanded vehicle depth: 191.858974 # Seafloor depth: -242.558675 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.04; 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 62 # Segment length 104.846676 meters # Minimum depth: 245.426698 meters looking forward 200.000000 meters along route # Maximum depth: 306.187527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 195.426698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800531; longitude = -122.091582; duration = 209; initialDepth = 205.272882; finalDepth = 195.426698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.359583 # Actual altitude: 59.359583 # Commanded vehicle depth: 195.426698 # Seafloor depth: -254.786281 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 104.846406 meters # Minimum depth: 255.272882 meters looking forward 200.000000 meters along route # Maximum depth: 323.676532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 205.272882 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801342; longitude = -122.090979; duration = 209; initialDepth = 260.396047; finalDepth = 205.272882; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.406559 # Actual altitude: 100 # Commanded vehicle depth: 205.272882 # Seafloor depth: -307.679441 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 100.962952 meters # Minimum depth: 310.396047 meters looking forward 200.000000 meters along route # Maximum depth: 329.049328 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 260.396047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802153; longitude = -122.090376; duration = 201; initialDepth = 264.656120; finalDepth = 260.396047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 102.406559 # Actual altitude: 100 # Commanded vehicle depth: 260.396047 # Seafloor depth: -315.692037 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 61 # Segment length 78.016586 meters # Minimum depth: 314.656120 meters looking forward 200.000000 meters along route # Maximum depth: 359.047587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 264.656120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802934; longitude = -122.089795; duration = 156; # abortOnTimeout = True; initialDepth = 268.382348; finalDepth = 264.656120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.68588 # Actual altitude: 66.68588 # Commanded vehicle depth: 264.65612 # Seafloor depth: -331.342000 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 61 # Segment length 103.529474 meters # Minimum depth: 318.382348 meters looking forward 200.000000 meters along route # Maximum depth: 359.047587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.382348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803145; longitude = -122.088961; duration = 207; initialDepth = 200.279869; finalDepth = 268.382348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.570218 # Actual altitude: 90.570218 # Commanded vehicle depth: 268.382348 # Seafloor depth: -358.952566 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.17; 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 61 # Segment length 108.228912 meters # Minimum depth: 250.279869 meters looking forward 200.000000 meters along route # Maximum depth: 357.645465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 200.279869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803424; longitude = -122.087853; duration = 216; initialDepth = 168.922939; finalDepth = 200.279869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 116.184464 # Actual altitude: 100 # Commanded vehicle depth: 200.279869 # Seafloor depth: -316.464333 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 60 # Segment length 172.002643 meters # Minimum depth: 218.922939 meters looking forward 200.000000 meters along route # Maximum depth: 260.420597 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 168.922939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803715; longitude = -122.086696; duration = 344; # abortOnTimeout = True; initialDepth = 168.922939; finalDepth = 168.922939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 116.184464 # Actual altitude: 100 # Commanded vehicle depth: 168.922939 # Seafloor depth: -248.957336 # 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 = 20; 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 59 # Segment length 134.639540 meters # Minimum depth: 218.922939 meters looking forward 200.000000 meters along route # Maximum depth: 284.931315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 168.922939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804617; longitude = -122.085127; duration = 269; # abortOnTimeout = True; initialDepth = 186.151629; finalDepth = 168.922939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.034397 # Actual altitude: 80.034397 # Commanded vehicle depth: 168.922939 # Seafloor depth: -225.809925 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.01; 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 59 # Segment length 101.011000 meters # Minimum depth: 236.151629 meters looking forward 200.000000 meters along route # Maximum depth: 292.071550 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 186.151629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805578; longitude = -122.084205; duration = 202; initialDepth = 230.448100; finalDepth = 186.151629; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.505349 # Actual altitude: 100 # Commanded vehicle depth: 186.151629 # Seafloor depth: -287.656978 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 59 # Segment length 102.537916 meters # Minimum depth: 280.448100 meters looking forward 200.000000 meters along route # Maximum depth: 298.054828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 230.448100 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806299; longitude = -122.083514; duration = 205; initialDepth = 184.243981; finalDepth = 230.448100; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.505349 # Actual altitude: 100 # Commanded vehicle depth: 230.4481 # Seafloor depth: -292.474709 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 59 # Segment length 103.686047 meters # Minimum depth: 234.243981 meters looking forward 200.000000 meters along route # Maximum depth: 298.054828 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 184.243981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807031; longitude = -122.082812; duration = 207; initialDepth = 165.327282; finalDepth = 184.243981; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 103.743762 # Actual altitude: 100 # Commanded vehicle depth: 184.243981 # Seafloor depth: -287.987743 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 58 # Segment length 96.097601 meters # Minimum depth: 215.327282 meters looking forward 200.000000 meters along route # Maximum depth: 287.987743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.327282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807771; longitude = -122.082102; duration = 192; # abortOnTimeout = True; initialDepth = 162.506379; finalDepth = 165.327282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.743762 # Actual altitude: 100 # Commanded vehicle depth: 165.327282 # Seafloor depth: -226.599033 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 58 # Segment length 100.309925 meters # Minimum depth: 212.506379 meters looking forward 200.000000 meters along route # Maximum depth: 227.164051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 162.506379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.807248; longitude = -122.081243; duration = 200; initialDepth = 162.506379; finalDepth = 162.506379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.271751 # Actual altitude: 61.271751 # Commanded vehicle depth: 162.506379 # Seafloor depth: -214.817258 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.38; 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 58 # Segment length 100.310391 meters # Minimum depth: 212.506379 meters looking forward 200.000000 meters along route # Maximum depth: 223.304210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 162.506379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806702; longitude = -122.080347; duration = 200; initialDepth = 151.533628; finalDepth = 162.506379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.82646 # Actual altitude: 56.82646 # Commanded vehicle depth: 162.506379 # Seafloor depth: -219.332839 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 58 # Segment length 100.310857 meters # Minimum depth: 201.533628 meters looking forward 200.000000 meters along route # Maximum depth: 223.304210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 151.533628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.806156; longitude = -122.079451; duration = 200; initialDepth = 151.533628; finalDepth = 151.533628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.654879 # Actual altitude: 58.654879 # Commanded vehicle depth: 151.533628 # Seafloor depth: -210.188507 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 100.311322 meters # Minimum depth: 201.533628 meters looking forward 200.000000 meters along route # Maximum depth: 216.708462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 151.533628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805610; longitude = -122.078555; duration = 200; initialDepth = 145.644910; finalDepth = 151.533628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.654879 # Actual altitude: 58.654879 # Commanded vehicle depth: 151.533628 # Seafloor depth: -208.407713 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 104.192812 meters # Minimum depth: 195.644910 meters looking forward 200.000000 meters along route # Maximum depth: 216.708462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 145.644910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805064; longitude = -122.077658; duration = 208; initialDepth = 119.110986; finalDepth = 145.644910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.874085 # Actual altitude: 56.874085 # Commanded vehicle depth: 145.64491 # Seafloor depth: -200.668163 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 58 # Segment length 104.810844 meters # Minimum depth: 169.110986 meters looking forward 200.000000 meters along route # Maximum depth: 200.387348 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 119.110986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804497; longitude = -122.076727; duration = 209; initialDepth = 115.895151; finalDepth = 119.110986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.343377 # Actual altitude: 80.343377 # Commanded vehicle depth: 119.110986 # Seafloor depth: -199.454363 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.10; 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 to get to end of line 57 # Segment length 109.248624 meters # Minimum depth: 165.895151 meters looking forward 200.000000 meters along route # Maximum depth: 189.526304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 115.895151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803926; longitude = -122.075791; duration = 218; # abortOnTimeout = True; initialDepth = 115.895151; finalDepth = 115.895151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.343377 # Actual altitude: 80.343377 # Commanded vehicle depth: 115.895151 # Seafloor depth: -170.785267 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.10; 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 57 # Segment length 105.365631 meters # Minimum depth: 165.895151 meters looking forward 200.000000 meters along route # Maximum depth: 205.487004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 115.895151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803413; longitude = -122.074746; duration = 210; initialDepth = 126.242358; finalDepth = 115.895151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.456057 # Actual altitude: 64.456057 # Commanded vehicle depth: 115.895151 # Seafloor depth: -180.351208 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 105.433261 meters # Minimum depth: 176.242358 meters looking forward 200.000000 meters along route # Maximum depth: 205.487004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 126.242358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802919; longitude = -122.073737; duration = 210; initialDepth = 121.230932; finalDepth = 126.242358; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.740154 # Actual altitude: 72.740154 # Commanded vehicle depth: 126.242358 # Seafloor depth: -198.982512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.82; 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 57 # Segment length 105.299532 meters # Minimum depth: 171.230932 meters looking forward 200.000000 meters along route # Maximum depth: 196.884365 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.230932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802424; longitude = -122.072728; duration = 210; initialDepth = 121.230932; finalDepth = 121.230932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.740154 # Actual altitude: 72.740154 # Commanded vehicle depth: 121.230932 # Seafloor depth: -176.219996 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.82; 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 57 # Segment length 105.898779 meters # Minimum depth: 171.230932 meters looking forward 200.000000 meters along route # Maximum depth: 179.246270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.230932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801929; longitude = -122.071721; duration = 211; initialDepth = 125.758862; finalDepth = 121.230932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.989064 # Actual altitude: 54.989064 # Commanded vehicle depth: 121.230932 # Seafloor depth: -172.590654 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 57 # Segment length 108.716855 meters # Minimum depth: 175.758862 meters looking forward 200.000000 meters along route # Maximum depth: 211.555296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 125.758862 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801432; longitude = -122.070707; duration = 217; initialDepth = 130.030868; finalDepth = 125.758862; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.467864 # Actual altitude: 53.467864 # Commanded vehicle depth: 125.758862 # Seafloor depth: -179.226726 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 56 # Segment length 95.825143 meters # Minimum depth: 180.030868 meters looking forward 200.000000 meters along route # Maximum depth: 267.718342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 130.030868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800922; longitude = -122.069667; duration = 191; # abortOnTimeout = True; initialDepth = 162.303627; finalDepth = 130.030868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.272759 # Actual altitude: 82.272759 # Commanded vehicle depth: 130.030868 # Seafloor depth: -212.303627 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.68; 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 56 # Segment length 103.437703 meters # Minimum depth: 212.303627 meters looking forward 200.000000 meters along route # Maximum depth: 267.718342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 162.303627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800171; longitude = -122.069137; duration = 206; initialDepth = 145.660706; finalDepth = 162.303627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.131838 # Actual altitude: 98.131838 # Commanded vehicle depth: 162.303627 # Seafloor depth: -260.435465 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 103.437968 meters # Minimum depth: 195.660706 meters looking forward 200.000000 meters along route # Maximum depth: 259.102172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 145.660706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799359; longitude = -122.068566; duration = 206; initialDepth = 145.093939; finalDepth = 145.660706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.131838 # Actual altitude: 98.131838 # Commanded vehicle depth: 145.660706 # Seafloor depth: -222.548570 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 56 # Segment length 103.438234 meters # Minimum depth: 195.093939 meters looking forward 200.000000 meters along route # Maximum depth: 216.733136 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 145.093939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -122.067994; duration = 206; initialDepth = 145.093939; finalDepth = 145.093939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.887864 # Actual altitude: 76.887864 # Commanded vehicle depth: 145.093939 # Seafloor depth: -195.714690 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.07; 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 56 # Segment length 107.278114 meters # Minimum depth: 195.093939 meters looking forward 200.000000 meters along route # Maximum depth: 284.358787 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 145.093939 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -122.067422; duration = 214; initialDepth = 189.222222; finalDepth = 145.093939; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.546648 # Actual altitude: 69.546648 # Commanded vehicle depth: 145.093939 # Seafloor depth: -214.640587 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 133.163115 meters # Minimum depth: 239.222222 meters looking forward 200.000000 meters along route # Maximum depth: 288.690065 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 189.222222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796896; longitude = -122.066829; duration = 266; # abortOnTimeout = True; initialDepth = 185.255578; finalDepth = 189.222222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.101348 # Actual altitude: 98.101348 # Commanded vehicle depth: 189.222222 # Seafloor depth: -287.323570 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.43; 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 55 # Segment length 102.732675 meters # Minimum depth: 235.255578 meters looking forward 200.000000 meters along route # Maximum depth: 281.348509 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 185.255578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -122.066109; duration = 205; initialDepth = 185.255578; finalDepth = 185.255578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.101348 # Actual altitude: 98.101348 # Commanded vehicle depth: 185.255578 # Seafloor depth: -238.359933 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.43; 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 55 # Segment length 102.732926 meters # Minimum depth: 235.255578 meters looking forward 200.000000 meters along route # Maximum depth: 253.915292 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 185.255578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795034; longitude = -122.065553; duration = 205; initialDepth = 176.688700; finalDepth = 185.255578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.556234 # Actual altitude: 65.556234 # Commanded vehicle depth: 185.255578 # Seafloor depth: -250.811812 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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; } # ####################################################### # # # # Waypoint_depth behavior during line 55 # Segment length 110.366605 meters # Minimum depth: 226.688700 meters looking forward 200.000000 meters along route # Maximum depth: 253.630358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 176.688700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -122.064998; duration = 220; initialDepth = 167.429044; finalDepth = 176.688700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 68.750398 # Actual altitude: 68.750398 # Commanded vehicle depth: 176.6887 # Seafloor depth: -245.439098 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 54 # Segment length 133.726981 meters # Minimum depth: 217.429044 meters looking forward 200.000000 meters along route # Maximum depth: 233.478999 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 167.429044 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793351; longitude = -122.064401; duration = 267; # abortOnTimeout = True; initialDepth = 165.028594; finalDepth = 167.429044; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.750398 # Actual altitude: 68.750398 # Commanded vehicle depth: 167.429044 # Seafloor depth: -226.471539 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 100.337402 meters # Minimum depth: 215.028594 meters looking forward 200.000000 meters along route # Maximum depth: 225.355054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.028594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792306; longitude = -122.063654; duration = 200; initialDepth = 165.013647; finalDepth = 165.028594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.042495 # Actual altitude: 59.042495 # Commanded vehicle depth: 165.028594 # Seafloor depth: -217.738224 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 54 # Segment length 100.337657 meters # Minimum depth: 215.013647 meters looking forward 200.000000 meters along route # Maximum depth: 218.482992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.013647 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791522; longitude = -122.063094; duration = 200; initialDepth = 163.336713; finalDepth = 165.013647; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.70963 # Actual altitude: 52.70963 # Commanded vehicle depth: 165.013647 # Seafloor depth: -215.822361 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 54 # Segment length 100.337911 meters # Minimum depth: 213.336713 meters looking forward 200.000000 meters along route # Maximum depth: 216.797557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 163.336713 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790737; longitude = -122.062534; duration = 200; initialDepth = 163.262704; finalDepth = 163.336713; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.175317 # Actual altitude: 53.175317 # Commanded vehicle depth: 163.336713 # Seafloor depth: -216.512030 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 54 # Segment length 100.338166 meters # Minimum depth: 213.262704 meters looking forward 200.000000 meters along route # Maximum depth: 217.931974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 163.262704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789953; longitude = -122.061974; duration = 200; initialDepth = 163.481464; finalDepth = 163.262704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.175317 # Actual altitude: 53.175317 # Commanded vehicle depth: 163.262704 # Seafloor depth: -213.262704 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 54 # Segment length 102.927680 meters # Minimum depth: 213.481464 meters looking forward 200.000000 meters along route # Maximum depth: 222.107282 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 163.481464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789169; longitude = -122.061414; duration = 205; initialDepth = 168.301318; finalDepth = 163.481464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.523123 # Actual altitude: 54.523123 # Commanded vehicle depth: 163.481464 # Seafloor depth: -218.004587 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 54 # Segment length 103.776869 meters # Minimum depth: 218.301318 meters looking forward 200.000000 meters along route # Maximum depth: 229.653688 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 168.301318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788364; longitude = -122.060839; duration = 207; initialDepth = 172.765344; finalDepth = 168.301318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.523123 # Actual altitude: 54.523123 # Commanded vehicle depth: 168.301318 # Seafloor depth: -222.259107 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 54 # Segment length 107.626396 meters # Minimum depth: 222.765344 meters looking forward 200.000000 meters along route # Maximum depth: 239.380210 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 172.765344 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787553; longitude = -122.060260; duration = 215; initialDepth = 184.479055; finalDepth = 172.765344; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.669833 # Actual altitude: 57.669833 # Commanded vehicle depth: 172.765344 # Seafloor depth: -230.435177 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 53 # Segment length 136.712681 meters # Minimum depth: 234.479055 meters looking forward 200.000000 meters along route # Maximum depth: 245.827503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 184.479055 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786712; longitude = -122.059659; duration = 273; # abortOnTimeout = True; initialDepth = 188.269938; finalDepth = 184.479055; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.669833 # Actual altitude: 57.669833 # Commanded vehicle depth: 184.479055 # Seafloor depth: -240.153835 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 53 # Segment length 105.020578 meters # Minimum depth: 238.269938 meters looking forward 200.000000 meters along route # Maximum depth: 255.574381 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 188.269938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785812; longitude = -122.058613; duration = 210; initialDepth = 195.920875; finalDepth = 188.269938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.299831 # Actual altitude: 57.299831 # Commanded vehicle depth: 188.269938 # Seafloor depth: -245.569769 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 104.891642 meters # Minimum depth: 245.920875 meters looking forward 200.000000 meters along route # Maximum depth: 260.311503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 195.920875 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785120; longitude = -122.057810; duration = 209; initialDepth = 207.825330; finalDepth = 195.920875; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.981561 # Actual altitude: 58.981561 # Commanded vehicle depth: 195.920875 # Seafloor depth: -254.902436 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 52 # Segment length 117.600576 meters # Minimum depth: 257.825330 meters looking forward 200.000000 meters along route # Maximum depth: 269.895698 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 207.825330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784429; longitude = -122.057007; duration = 235; # abortOnTimeout = True; initialDepth = 212.007327; finalDepth = 207.825330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.981561 # Actual altitude: 58.981561 # Commanded vehicle depth: 207.82533 # Seafloor depth: -258.797249 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 52 # Segment length 105.873871 meters # Minimum depth: 262.007327 meters looking forward 200.000000 meters along route # Maximum depth: 284.303021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 212.007327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783555; longitude = -122.056260; duration = 211; initialDepth = 221.843500; finalDepth = 212.007327; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.559854 # Actual altitude: 58.559854 # Commanded vehicle depth: 212.007327 # Seafloor depth: -270.567181 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 52 # Segment length 100.043003 meters # Minimum depth: 271.843500 meters looking forward 200.000000 meters along route # Maximum depth: 305.944874 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 221.843500 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782769; longitude = -122.055588; duration = 200; initialDepth = 233.161978; finalDepth = 221.843500; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 62.278395 # Actual altitude: 62.278395 # Commanded vehicle depth: 221.8435 # Seafloor depth: -284.121895 # 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 = 20; 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; } # ####################################################### # # 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 76.893923 meters # Minimum depth: 283.161978 meters looking forward 200.000000 meters along route # Maximum depth: 316.142777 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 233.161978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782026; longitude = -122.054953; duration = 153; # abortOnTimeout = True; initialDepth = 252.290277; finalDepth = 233.161978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.633356 # Actual altitude: 72.633356 # Commanded vehicle depth: 233.161978 # Seafloor depth: -305.795334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.79; 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 100.237102 meters # Minimum depth: 302.290277 meters looking forward 200.000000 meters along route # Maximum depth: 329.911891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 252.290277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781335; longitude = -122.055014; duration = 200; initialDepth = 270.027737; finalDepth = 252.290277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.633356 # Actual altitude: 72.633356 # Commanded vehicle depth: 252.290277 # Seafloor depth: -319.649892 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.79; 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 103.591281 meters # Minimum depth: 320.027737 meters looking forward 200.000000 meters along route # Maximum depth: 347.092779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 270.027737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780433; longitude = -122.055094; duration = 207; initialDepth = 283.659561; finalDepth = 270.027737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 67.359615 # Actual altitude: 67.359615 # Commanded vehicle depth: 270.027737 # Seafloor depth: -332.706324 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 96.738402 meters # Minimum depth: 333.659561 meters looking forward 200.000000 meters along route # Maximum depth: 347.092779 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 283.659561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779502; longitude = -122.055177; duration = 193; # abortOnTimeout = True; initialDepth = 274.306854; finalDepth = 283.659561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.338516 # Actual altitude: 63.338516 # Commanded vehicle depth: 283.659561 # Seafloor depth: -346.998077 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.00; 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 50 # Segment length 104.461001 meters # Minimum depth: 324.306854 meters looking forward 200.000000 meters along route # Maximum depth: 346.320350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 274.306854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780253; longitude = -122.055728; duration = 208; initialDepth = 265.879847; finalDepth = 274.306854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.338516 # Actual altitude: 63.338516 # Commanded vehicle depth: 274.306854 # Seafloor depth: -331.727010 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.00; 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 50 # Segment length 107.252332 meters # Minimum depth: 315.879847 meters looking forward 200.000000 meters along route # Maximum depth: 329.325949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 265.879847 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781064; longitude = -122.056322; duration = 214; initialDepth = 258.895557; finalDepth = 265.879847; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.420156 # Actual altitude: 57.420156 # Commanded vehicle depth: 265.879847 # Seafloor depth: -321.955810 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 101.668815 meters # Minimum depth: 308.895557 meters looking forward 200.000000 meters along route # Maximum depth: 323.967579 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 258.895557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781897; longitude = -122.056933; duration = 203; initialDepth = 258.895557; finalDepth = 258.895557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.669697 # Actual altitude: 57.669697 # Commanded vehicle depth: 258.895557 # Seafloor depth: -316.565254 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 50 # Segment length 108.372894 meters # Minimum depth: 308.895557 meters looking forward 200.000000 meters along route # Maximum depth: 317.656050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 258.895557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782687; longitude = -122.057511; duration = 216; initialDepth = 261.814786; finalDepth = 258.895557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.669697 # Actual altitude: 57.669697 # Commanded vehicle depth: 258.895557 # Seafloor depth: -312.418999 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 49 # Segment length 164.167762 meters # Minimum depth: 311.814786 meters looking forward 200.000000 meters along route # Maximum depth: 334.550705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 261.814786 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783528; longitude = -122.058128; duration = 328; # abortOnTimeout = True; initialDepth = 246.223618; finalDepth = 261.814786; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.523442 # Actual altitude: 53.523442 # Commanded vehicle depth: 261.814786 # Seafloor depth: -313.092468 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 49 # Segment length 103.190760 meters # Minimum depth: 296.223618 meters looking forward 200.000000 meters along route # Maximum depth: 334.550705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 246.223618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784505; longitude = -122.059509; duration = 206; initialDepth = 243.606277; finalDepth = 246.223618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.810067 # Actual altitude: 74.810067 # Commanded vehicle depth: 246.223618 # Seafloor depth: -321.033685 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.44; 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 49 # Segment length 100.964655 meters # Minimum depth: 293.606277 meters looking forward 200.000000 meters along route # Maximum depth: 319.850462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 243.606277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785120; longitude = -122.060377; duration = 201; initialDepth = 227.910562; finalDepth = 243.606277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 74.810067 # Actual altitude: 74.810067 # Commanded vehicle depth: 243.606277 # Seafloor depth: -295.054167 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.44; 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 to get to end of line 48 # Segment length 153.992541 meters # Minimum depth: 277.910562 meters looking forward 200.000000 meters along route # Maximum depth: 305.574101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 227.910562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785721; longitude = -122.061227; duration = 307; # abortOnTimeout = True; initialDepth = 219.744187; finalDepth = 227.910562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.573523 # Actual altitude: 77.573523 # Commanded vehicle depth: 227.910562 # Seafloor depth: -305.484085 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.27; 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 48 # Segment length 103.972387 meters # Minimum depth: 269.744187 meters looking forward 200.000000 meters along route # Maximum depth: 290.585599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 219.744187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786922; longitude = -122.062092; duration = 207; initialDepth = 209.783673; finalDepth = 219.744187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.573523 # Actual altitude: 77.573523 # Commanded vehicle depth: 219.744187 # Seafloor depth: -277.760125 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.27; 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 48 # Segment length 103.972111 meters # Minimum depth: 259.783673 meters looking forward 200.000000 meters along route # Maximum depth: 282.626689 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 209.783673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787733; longitude = -122.062675; duration = 207; initialDepth = 209.783673; finalDepth = 209.783673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.267428 # Actual altitude: 61.267428 # Commanded vehicle depth: 209.783673 # Seafloor depth: -271.051101 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.38; 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 48 # Segment length 103.971836 meters # Minimum depth: 259.783673 meters looking forward 200.000000 meters along route # Maximum depth: 289.572925 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 209.783673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -122.063259; duration = 207; initialDepth = 230.669346; finalDepth = 209.783673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.075297 # Actual altitude: 71.075297 # Commanded vehicle depth: 209.783673 # Seafloor depth: -280.858970 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 48 # Segment length 106.137184 meters # Minimum depth: 280.669346 meters looking forward 200.000000 meters along route # Maximum depth: 313.833057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 230.669346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789356; longitude = -122.063843; duration = 212; initialDepth = 225.864631; finalDepth = 230.669346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.075297 # Actual altitude: 71.075297 # Commanded vehicle depth: 230.669346 # Seafloor depth: -294.488156 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 48 # Segment length 101.805660 meters # Minimum depth: 275.864631 meters looking forward 200.000000 meters along route # Maximum depth: 313.833057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 225.864631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790184; longitude = -122.064439; duration = 203; initialDepth = 225.864631; finalDepth = 225.864631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.877292 # Actual altitude: 63.877292 # Commanded vehicle depth: 225.864631 # Seafloor depth: -289.741923 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 103.971008 meters # Minimum depth: 275.864631 meters looking forward 200.000000 meters along route # Maximum depth: 297.043532 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 225.864631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790978; longitude = -122.065010; duration = 207; initialDepth = 230.770238; finalDepth = 225.864631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.877292 # Actual altitude: 63.877292 # Commanded vehicle depth: 225.864631 # Seafloor depth: -277.659145 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 48 # Segment length 100.105814 meters # Minimum depth: 280.770238 meters looking forward 200.000000 meters along route # Maximum depth: 310.291119 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 230.770238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791789; longitude = -122.065594; duration = 200; initialDepth = 252.471652; finalDepth = 230.770238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.726003 # Actual altitude: 67.726003 # Commanded vehicle depth: 230.770238 # Seafloor depth: -298.496241 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 129.420995 meters # Minimum depth: 302.471652 meters looking forward 200.000000 meters along route # Maximum depth: 346.437912 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 252.471652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792570; longitude = -122.066156; duration = 258; # abortOnTimeout = True; initialDepth = 255.444447; finalDepth = 252.471652; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.726003 # Actual altitude: 67.726003 # Commanded vehicle depth: 252.471652 # Seafloor depth: -311.105423 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 47 # Segment length 102.764100 meters # Minimum depth: 305.444447 meters looking forward 200.000000 meters along route # Maximum depth: 366.330832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.444447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793592; longitude = -122.066857; duration = 205; initialDepth = 245.592479; finalDepth = 255.444447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.712268 # Actual altitude: 98.712268 # Commanded vehicle depth: 255.444447 # Seafloor depth: -354.156715 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.61; 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 47 # Segment length 102.763847 meters # Minimum depth: 295.592479 meters looking forward 200.000000 meters along route # Maximum depth: 366.330832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 245.592479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -122.067413; duration = 205; initialDepth = 245.592479; finalDepth = 245.592479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.712268 # Actual altitude: 98.712268 # Commanded vehicle depth: 245.592479 # Seafloor depth: -313.620986 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.61; 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 47 # Segment length 106.581199 meters # Minimum depth: 295.592479 meters looking forward 200.000000 meters along route # Maximum depth: 379.914336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 245.592479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795214; longitude = -122.067969; duration = 213; initialDepth = 216.030024; finalDepth = 245.592479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 81.690873 # Actual altitude: 81.690873 # Commanded vehicle depth: 245.592479 # Seafloor depth: -327.283352 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.51; 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 to get to end of line 46 # Segment length 167.721551 meters # Minimum depth: 266.030024 meters looking forward 200.000000 meters along route # Maximum depth: 379.914336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 216.030024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796055; longitude = -122.068546; duration = 335; # abortOnTimeout = True; initialDepth = 202.152232; finalDepth = 216.030024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 157.434728 # Actual altitude: 100 # Commanded vehicle depth: 216.030024 # Seafloor depth: -373.464752 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 46 # Segment length 100.581184 meters # Minimum depth: 252.152232 meters looking forward 200.000000 meters along route # Maximum depth: 317.829450 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 202.152232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797367; longitude = -122.069480; duration = 201; initialDepth = 202.152232; finalDepth = 202.152232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 157.434728 # Actual altitude: 100 # Commanded vehicle depth: 202.152232 # Seafloor depth: -259.527372 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 46 # Segment length 100.580929 meters # Minimum depth: 252.152232 meters looking forward 200.000000 meters along route # Maximum depth: 344.832251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 202.152232 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798154; longitude = -122.070040; duration = 201; initialDepth = 246.248851; finalDepth = 202.152232; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.586209 # Actual altitude: 87.586209 # Commanded vehicle depth: 202.152232 # Seafloor depth: -289.738441 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.28; 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 46 # Segment length 107.305915 meters # Minimum depth: 296.248851 meters looking forward 200.000000 meters along route # Maximum depth: 361.286242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 246.248851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798941; longitude = -122.070600; duration = 214; initialDepth = 222.260989; finalDepth = 246.248851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 101.822805 # Actual altitude: 100 # Commanded vehicle depth: 246.248851 # Seafloor depth: -348.071656 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 45 # Segment length 80.852833 meters # Minimum depth: 272.260989 meters looking forward 200.000000 meters along route # Maximum depth: 361.286242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 222.260989 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799780; longitude = -122.071198; duration = 161; # abortOnTimeout = True; initialDepth = 208.605192; finalDepth = 222.260989; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.822805 # Actual altitude: 100 # Commanded vehicle depth: 222.260989 # Seafloor depth: -320.629112 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 45 # Segment length 104.606459 meters # Minimum depth: 258.605192 meters looking forward 200.000000 meters along route # Maximum depth: 321.180350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 208.605192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800171; longitude = -122.071963; duration = 209; initialDepth = 208.605192; finalDepth = 208.605192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.368123 # Actual altitude: 98.368123 # Commanded vehicle depth: 208.605192 # Seafloor depth: -275.512598 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.51; 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 106.546442 meters # Minimum depth: 258.605192 meters looking forward 200.000000 meters along route # Maximum depth: 294.573432 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 208.605192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800676; longitude = -122.072953; duration = 213; initialDepth = 217.051587; finalDepth = 208.605192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.907406 # Actual altitude: 66.907406 # Commanded vehicle depth: 208.605192 # Seafloor depth: -260.880743 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 45 # Segment length 106.545917 meters # Minimum depth: 267.051587 meters looking forward 200.000000 meters along route # Maximum depth: 317.041335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 217.051587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801191; longitude = -122.073961; duration = 213; initialDepth = 208.883670; finalDepth = 217.051587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.403981 # Actual altitude: 79.403981 # Commanded vehicle depth: 217.051587 # Seafloor depth: -296.455568 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.82; 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 111.396158 meters # Minimum depth: 258.883670 meters looking forward 200.000000 meters along route # Maximum depth: 317.041335 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 208.883670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801705; longitude = -122.074970; duration = 222; initialDepth = 208.883670; finalDepth = 208.883670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.403981 # Actual altitude: 79.403981 # Commanded vehicle depth: 208.88367 # Seafloor depth: -282.807009 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.82; 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 105.690144 meters # Minimum depth: 258.883670 meters looking forward 200.000000 meters along route # Maximum depth: 305.244917 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 208.883670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802243; longitude = -122.076024; duration = 211; initialDepth = 219.930133; finalDepth = 208.883670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.923339 # Actual altitude: 73.923339 # Commanded vehicle depth: 208.88367 # Seafloor depth: -260.257588 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.18; 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 to get to end of line 44 # Segment length 109.844493 meters # Minimum depth: 269.930133 meters looking forward 200.000000 meters along route # Maximum depth: 316.387272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 219.930133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802754; longitude = -122.077024; duration = 219; # abortOnTimeout = True; initialDepth = 240.363346; finalDepth = 219.930133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.361897 # Actual altitude: 85.361897 # Commanded vehicle depth: 219.930133 # Seafloor depth: -305.292030 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.61; 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 44 # Segment length 101.443808 meters # Minimum depth: 290.363346 meters looking forward 200.000000 meters along route # Maximum depth: 316.387272 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 240.363346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803363; longitude = -122.077994; duration = 202; initialDepth = 245.792121; finalDepth = 240.363346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.361897 # Actual altitude: 85.361897 # Commanded vehicle depth: 240.363346 # Seafloor depth: -316.255306 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.61; 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 44 # Segment length 102.818659 meters # Minimum depth: 295.792121 meters looking forward 200.000000 meters along route # Maximum depth: 336.000924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 245.792121 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803926; longitude = -122.078891; duration = 205; initialDepth = 264.318268; finalDepth = 245.792121; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.89196 # Actual altitude: 75.89196 # Commanded vehicle depth: 245.792121 # Seafloor depth: -311.045239 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.77; 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 44 # Segment length 100.067535 meters # Minimum depth: 314.318268 meters looking forward 200.000000 meters along route # Maximum depth: 344.174053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 264.318268 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804497; longitude = -122.079799; duration = 200; initialDepth = 269.276339; finalDepth = 264.318268; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.900971 # Actual altitude: 71.900971 # Commanded vehicle depth: 264.318268 # Seafloor depth: -336.219239 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.57; 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 44 # Segment length 105.689648 meters # Minimum depth: 319.276339 meters looking forward 200.000000 meters along route # Maximum depth: 344.174053 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 269.276339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805052; longitude = -122.080683; duration = 211; initialDepth = 269.276339; finalDepth = 269.276339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.900971 # Actual altitude: 71.900971 # Commanded vehicle depth: 269.276339 # Seafloor depth: -336.697768 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.57; 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 to get to end of line 43 # Segment length 145.108715 meters # Minimum depth: 319.276339 meters looking forward 200.000000 meters along route # Maximum depth: 364.618358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 269.276339 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805638; longitude = -122.081617; duration = 290; # abortOnTimeout = True; initialDepth = 280.554798; finalDepth = 269.276339; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.421429 # Actual altitude: 67.421429 # Commanded vehicle depth: 269.276339 # Seafloor depth: -322.819763 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.23; 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 100.475298 meters # Minimum depth: 330.554798 meters looking forward 200.000000 meters along route # Maximum depth: 364.618358 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.554798 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804677; longitude = -122.082720; duration = 200; initialDepth = 246.911818; finalDepth = 280.554798; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.249159 # Actual altitude: 81.249159 # Commanded vehicle depth: 280.554798 # Seafloor depth: -361.803957 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.37; 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 43 # Segment length 108.124098 meters # Minimum depth: 296.911818 meters looking forward 200.000000 meters along route # Maximum depth: 357.435686 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 246.911818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804011; longitude = -122.083484; duration = 216; initialDepth = 231.093347; finalDepth = 246.911818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.996293 # Actual altitude: 82.996293 # Commanded vehicle depth: 246.911818 # Seafloor depth: -329.908111 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # 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 86.076231 meters # Minimum depth: 281.093347 meters looking forward 200.000000 meters along route # Maximum depth: 330.554798 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 231.093347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803295; longitude = -122.084306; duration = 172; # abortOnTimeout = True; initialDepth = 231.093347; finalDepth = 231.093347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.996293 # Actual altitude: 82.996293 # Commanded vehicle depth: 231.093347 # Seafloor depth: -293.426254 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 101.689257 meters # Minimum depth: 281.093347 meters looking forward 200.000000 meters along route # Maximum depth: 335.481737 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 231.093347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802964; longitude = -122.085179; duration = 203; initialDepth = 231.902071; finalDepth = 231.093347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.332907 # Actual altitude: 62.332907 # Commanded vehicle depth: 231.093347 # Seafloor depth: -285.367736 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 76.742001 meters # Minimum depth: 281.902071 meters looking forward 200.000000 meters along route # Maximum depth: 336.224078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 231.902071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802574; longitude = -122.086210; duration = 153; # abortOnTimeout = True; initialDepth = 267.687914; finalDepth = 231.902071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.463591 # Actual altitude: 99.463591 # Commanded vehicle depth: 231.902071 # Seafloor depth: -331.365662 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.84; 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 100.901823 meters # Minimum depth: 317.687914 meters looking forward 200.000000 meters along route # Maximum depth: 396.282631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 267.687914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802334; longitude = -122.087017; duration = 201; initialDepth = 299.035353; finalDepth = 267.687914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.463591 # Actual altitude: 99.463591 # Commanded vehicle depth: 267.687914 # Seafloor depth: -340.276404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.84; 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 110.139708 meters # Minimum depth: 349.035353 meters looking forward 200.000000 meters along route # Maximum depth: 404.001809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 299.035353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802018; longitude = -122.088077; duration = 220; initialDepth = 299.723004; finalDepth = 299.035353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 100.455697 # Actual altitude: 100 # Commanded vehicle depth: 299.035353 # Seafloor depth: -399.491050 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 40 # Segment length 152.545627 meters # Minimum depth: 349.723004 meters looking forward 200.000000 meters along route # Maximum depth: 396.452274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 299.723004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801673; longitude = -122.089235; duration = 305; # abortOnTimeout = True; initialDepth = 292.488538; finalDepth = 299.723004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 100.455697 # Actual altitude: 100 # Commanded vehicle depth: 299.723004 # Seafloor depth: -385.813192 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 40 # Segment length 102.295473 meters # Minimum depth: 342.488538 meters looking forward 200.000000 meters along route # Maximum depth: 380.330090 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 292.488538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800396; longitude = -122.089870; duration = 204; initialDepth = 255.216815; finalDepth = 292.488538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.090188 # Actual altitude: 86.090188 # Commanded vehicle depth: 292.488538 # Seafloor depth: -346.942505 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.83; 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 40 # Segment length 104.090271 meters # Minimum depth: 305.216815 meters looking forward 200.000000 meters along route # Maximum depth: 352.923199 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.216815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799540; longitude = -122.090296; duration = 208; initialDepth = 240.330200; finalDepth = 255.216815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.4956 # Actual altitude: 78.4956 # Commanded vehicle depth: 255.216815 # Seafloor depth: -333.712415 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 113.288023 meters # Minimum depth: 290.330200 meters looking forward 200.000000 meters along route # Maximum depth: 321.302802 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 240.330200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798669; longitude = -122.090729; duration = 226; # abortOnTimeout = True; initialDepth = 240.330200; finalDepth = 240.330200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.4956 # Actual altitude: 78.4956 # Commanded vehicle depth: 240.3302 # Seafloor depth: -307.767334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 39 # Segment length 105.979304 meters # Minimum depth: 290.330200 meters looking forward 200.000000 meters along route # Maximum depth: 328.607467 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 240.330200 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -122.091250; duration = 211; initialDepth = 247.448406; finalDepth = 240.330200; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.437134 # Actual altitude: 67.437134 # Commanded vehicle depth: 240.3302 # Seafloor depth: -296.465259 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.23; 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 38 # Segment length 95.306707 meters # Minimum depth: 297.448406 meters looking forward 200.000000 meters along route # Maximum depth: 350.875739 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 247.448406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796866; longitude = -122.091737; duration = 190; # abortOnTimeout = True; initialDepth = 281.193705; finalDepth = 247.448406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.745299 # Actual altitude: 83.745299 # Commanded vehicle depth: 247.448406 # Seafloor depth: -331.193705 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.12; 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 38 # Segment length 102.931470 meters # Minimum depth: 331.193705 meters looking forward 200.000000 meters along route # Maximum depth: 364.227788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 281.193705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796115; longitude = -122.092256; duration = 205; initialDepth = 299.941897; finalDepth = 281.193705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.745299 # Actual altitude: 83.745299 # Commanded vehicle depth: 281.193705 # Seafloor depth: -351.862204 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.12; 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 38 # Segment length 110.556285 meters # Minimum depth: 349.941897 meters looking forward 200.000000 meters along route # Maximum depth: 364.227788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 299.941897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -122.092816; duration = 221; initialDepth = 287.030858; finalDepth = 299.941897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 70.668499 # Actual altitude: 70.668499 # Commanded vehicle depth: 299.941897 # Seafloor depth: -359.980710 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.20; 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 to get to end of line 37 # Segment length 153.101573 meters # Minimum depth: 337.030858 meters looking forward 200.000000 meters along route # Maximum depth: 352.204234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 287.030858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794433; longitude = -122.093417; duration = 306; # abortOnTimeout = True; initialDepth = 287.030858; finalDepth = 287.030858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.72256 # Actual altitude: 62.72256 # Commanded vehicle depth: 287.030858 # Seafloor depth: -349.753418 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 37 # Segment length 110.999253 meters # Minimum depth: 337.030858 meters looking forward 200.000000 meters along route # Maximum depth: 345.833793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 287.030858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793753; longitude = -122.094911; duration = 221; initialDepth = 291.437883; finalDepth = 287.030858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.72256 # Actual altitude: 62.72256 # Commanded vehicle depth: 287.030858 # Seafloor depth: -340.863822 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 36 # Segment length 175.212217 meters # Minimum depth: 341.437883 meters looking forward 200.000000 meters along route # Maximum depth: 398.619587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 291.437883 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793261; longitude = -122.095994; duration = 350; # abortOnTimeout = True; initialDepth = 321.085051; finalDepth = 291.437883; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.832964 # Actual altitude: 53.832964 # Commanded vehicle depth: 291.437883 # Seafloor depth: -342.871012 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 101.084182 meters # Minimum depth: 371.085051 meters looking forward 200.000000 meters along route # Maximum depth: 398.619587 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 321.085051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793026; longitude = -122.097936; duration = 202; initialDepth = 299.511483; finalDepth = 321.085051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.884667 # Actual altitude: 72.884667 # Commanded vehicle depth: 321.085051 # Seafloor depth: -393.969718 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.87; 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 36 # Segment length 104.453816 meters # Minimum depth: 349.511483 meters looking forward 200.000000 meters along route # Maximum depth: 394.990638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 299.511483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792890; longitude = -122.099056; duration = 208; initialDepth = 296.866855; finalDepth = 299.511483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.884667 # Actual altitude: 72.884667 # Commanded vehicle depth: 299.511483 # Seafloor depth: -369.440822 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.87; 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 to get to end of line 35 # Segment length 133.698225 meters # Minimum depth: 346.866855 meters looking forward 200.000000 meters along route # Maximum depth: 361.967833 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 296.866855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792750; longitude = -122.100214; duration = 267; # abortOnTimeout = True; initialDepth = 296.866855; finalDepth = 296.866855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.929339 # Actual altitude: 69.929339 # Commanded vehicle depth: 296.866855 # Seafloor depth: -348.921672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.98; 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 35 # Segment length 105.411518 meters # Minimum depth: 346.866855 meters looking forward 200.000000 meters along route # Maximum depth: 356.945313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 296.866855 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792240; longitude = -122.101571; duration = 210; initialDepth = 301.295351; finalDepth = 296.866855; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.052895 # Actual altitude: 53.052895 # Commanded vehicle depth: 296.866855 # Seafloor depth: -349.919750 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 35 # Segment length 110.359091 meters # Minimum depth: 351.295351 meters looking forward 200.000000 meters along route # Maximum depth: 363.121891 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 301.295351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791837; longitude = -122.102641; duration = 220; initialDepth = 307.332313; finalDepth = 301.295351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.144449 # Actual altitude: 56.144449 # Commanded vehicle depth: 301.295351 # Seafloor depth: -357.439800 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 106.680905 meters # Minimum depth: 357.332313 meters looking forward 200.000000 meters along route # Maximum depth: 368.528894 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 307.332313 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791415; longitude = -122.103762; duration = 213; initialDepth = 317.188905; finalDepth = 307.332313; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.168362 # Actual altitude: 56.168362 # Commanded vehicle depth: 307.332313 # Seafloor depth: -363.500675 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 34 # Segment length 161.215503 meters # Minimum depth: 367.188905 meters looking forward 200.000000 meters along route # Maximum depth: 398.240501 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 317.188905 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791008; longitude = -122.104845; duration = 322; # abortOnTimeout = True; initialDepth = 337.586872; finalDepth = 317.188905; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.168362 # Actual altitude: 56.168362 # Commanded vehicle depth: 317.188905 # Seafloor depth: -368.473958 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 33 # Segment length 142.543106 meters # Minimum depth: 387.586872 meters looking forward 200.000000 meters along route # Maximum depth: 399.053996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 337.586872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789566; longitude = -122.104621; duration = 285; # abortOnTimeout = True; initialDepth = 341.217773; finalDepth = 337.586872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.467124 # Actual altitude: 61.467124 # Commanded vehicle depth: 337.586872 # Seafloor depth: -399.053996 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 33 # Segment length 104.381478 meters # Minimum depth: 391.217773 meters looking forward 200.000000 meters along route # Maximum depth: 399.555801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 341.217773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790077; longitude = -122.103155; duration = 208; initialDepth = 340.699403; finalDepth = 341.217773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.467124 # Actual altitude: 61.467124 # Commanded vehicle depth: 341.217773 # Seafloor depth: -394.986110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 33 # Segment length 108.936594 meters # Minimum depth: 390.699403 meters looking forward 200.000000 meters along route # Maximum depth: 399.555801 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.699403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790451; longitude = -122.102081; duration = 217; initialDepth = 340.699403; finalDepth = 340.699403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.771544 # Actual altitude: 53.771544 # Commanded vehicle depth: 340.699403 # Seafloor depth: -394.470947 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 33 # Segment length 105.304952 meters # Minimum depth: 390.699403 meters looking forward 200.000000 meters along route # Maximum depth: 404.465997 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.699403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790841; longitude = -122.100961; duration = 210; initialDepth = 346.462353; finalDepth = 340.699403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.771544 # Actual altitude: 53.771544 # Commanded vehicle depth: 340.699403 # Seafloor depth: -393.217173 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 32 # Segment length 164.754177 meters # Minimum depth: 396.462353 meters looking forward 200.000000 meters along route # Maximum depth: 445.928728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 346.462353 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791218; longitude = -122.099878; duration = 329; # abortOnTimeout = True; initialDepth = 364.919818; finalDepth = 346.462353; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.609465 # Actual altitude: 53.609465 # Commanded vehicle depth: 346.462353 # Seafloor depth: -400.071818 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 32 # Segment length 100.869724 meters # Minimum depth: 414.919818 meters looking forward 200.000000 meters along route # Maximum depth: 454.845996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 364.919818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791417; longitude = -122.098048; duration = 201; initialDepth = 335.571998; finalDepth = 364.919818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.926178 # Actual altitude: 89.926178 # Commanded vehicle depth: 364.919818 # Seafloor depth: -454.845996 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.98; 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 32 # Segment length 107.594221 meters # Minimum depth: 385.571998 meters looking forward 200.000000 meters along route # Maximum depth: 449.825669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 335.571998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791539; longitude = -122.096928; duration = 215; initialDepth = 335.571998; finalDepth = 335.571998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 89.926178 # Actual altitude: 89.926178 # Commanded vehicle depth: 335.571998 # Seafloor depth: -412.950215 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.98; 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 to get to end of line 31 # Segment length 161.177594 meters # Minimum depth: 385.571998 meters looking forward 200.000000 meters along route # Maximum depth: 409.443468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 335.571998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791669; longitude = -122.095733; duration = 322; # abortOnTimeout = True; initialDepth = 334.837565; finalDepth = 335.571998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.378217 # Actual altitude: 77.378217 # Commanded vehicle depth: 335.571998 # Seafloor depth: -389.686320 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.21; 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 31 # Segment length 108.039111 meters # Minimum depth: 384.837565 meters looking forward 200.000000 meters along route # Maximum depth: 409.443468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 334.837565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792334; longitude = -122.094127; duration = 216; initialDepth = 332.264455; finalDepth = 334.837565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.025147 # Actual altitude: 58.025147 # Commanded vehicle depth: 334.837565 # Seafloor depth: -392.862712 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 31 # Segment length 101.865015 meters # Minimum depth: 382.264455 meters looking forward 200.000000 meters along route # Maximum depth: 398.866117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 332.264455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792780; longitude = -122.093051; duration = 203; initialDepth = 332.264455; finalDepth = 332.264455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.025147 # Actual altitude: 58.025147 # Commanded vehicle depth: 332.264455 # Seafloor depth: -384.647851 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 30 # Segment length 140.338161 meters # Minimum depth: 382.264455 meters looking forward 200.000000 meters along route # Maximum depth: 419.762275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 332.264455 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793201; longitude = -122.092036; duration = 280; # abortOnTimeout = True; initialDepth = 353.361576; finalDepth = 332.264455; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.843862 # Actual altitude: 58.843862 # Commanded vehicle depth: 332.264455 # Seafloor depth: -391.108317 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 102.408662 meters # Minimum depth: 403.361576 meters looking forward 200.000000 meters along route # Maximum depth: 443.179350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 353.361576 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -122.091285; duration = 204; initialDepth = 343.660686; finalDepth = 353.361576; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.928271 # Actual altitude: 69.928271 # Commanded vehicle depth: 353.361576 # Seafloor depth: -423.289847 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.98; 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 30 # Segment length 106.201337 meters # Minimum depth: 393.660686 meters looking forward 200.000000 meters along route # Maximum depth: 443.179350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 343.660686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -122.090737; duration = 212; initialDepth = 330.452637; finalDepth = 343.660686; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 89.773019 # Actual altitude: 89.773019 # Commanded vehicle depth: 343.660686 # Seafloor depth: -433.433705 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.93; 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 to get to end of line 29 # Segment length 168.698722 meters # Minimum depth: 380.452637 meters looking forward 200.000000 meters along route # Maximum depth: 402.636527 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.452637 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795965; longitude = -122.090169; duration = 337; # abortOnTimeout = True; initialDepth = 328.696027; finalDepth = 330.452637; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.773019 # Actual altitude: 89.773019 # Commanded vehicle depth: 330.452637 # Seafloor depth: -391.538127 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 100.501190 meters # Minimum depth: 378.696027 meters looking forward 200.000000 meters along route # Maximum depth: 393.064026 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 328.696027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797377; longitude = -122.089466; duration = 201; initialDepth = 327.403870; finalDepth = 328.696027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.08549 # Actual altitude: 61.08549 # Commanded vehicle depth: 328.696027 # Seafloor depth: -389.049615 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 28 # Segment length 179.158505 meters # Minimum depth: 377.403870 meters looking forward 200.000000 meters along route # Maximum depth: 444.429871 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 327.403870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798218; longitude = -122.089048; duration = 358; # abortOnTimeout = True; initialDepth = 361.956282; finalDepth = 327.403870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.353588 # Actual altitude: 60.353588 # Commanded vehicle depth: 327.40387 # Seafloor depth: -383.093669 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.11; 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 28 # Segment length 105.387217 meters # Minimum depth: 411.956282 meters looking forward 200.000000 meters along route # Maximum depth: 450.527483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 361.956282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799750; longitude = -122.088413; duration = 210; initialDepth = 372.156694; finalDepth = 361.956282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.521064 # Actual altitude: 82.521064 # Commanded vehicle depth: 361.956282 # Seafloor depth: -444.477346 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.76; 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 to get to end of line 27 # Segment length 101.672549 meters # Minimum depth: 422.156694 meters looking forward 200.000000 meters along route # Maximum depth: 450.527483 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 372.156694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800651; longitude = -122.088040; duration = 203; # abortOnTimeout = True; initialDepth = 345.386571; finalDepth = 372.156694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.521064 # Actual altitude: 82.521064 # Commanded vehicle depth: 372.156694 # Seafloor depth: -445.882487 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 27 # Segment length 101.672228 meters # Minimum depth: 395.386571 meters looking forward 200.000000 meters along route # Maximum depth: 449.402519 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 345.386571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800937; longitude = -122.086957; duration = 203; initialDepth = 324.071753; finalDepth = 345.386571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.725793 # Actual altitude: 73.725793 # Commanded vehicle depth: 345.386571 # Seafloor depth: -417.776016 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 106.172441 meters # Minimum depth: 374.071753 meters looking forward 200.000000 meters along route # Maximum depth: 413.021117 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 324.071753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801222; longitude = -122.085874; duration = 212; # abortOnTimeout = True; initialDepth = 324.071753; finalDepth = 324.071753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.544783 # Actual altitude: 82.544783 # Commanded vehicle depth: 324.071753 # Seafloor depth: -406.616536 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.76; 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 26 # Segment length 109.629576 meters # Minimum depth: 374.071753 meters looking forward 200.000000 meters along route # Maximum depth: 392.257511 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 324.071753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801444; longitude = -122.084716; duration = 219; initialDepth = 324.767979; finalDepth = 324.071753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 82.544783 # Actual altitude: 82.544783 # Commanded vehicle depth: 324.071753 # Seafloor depth: -375.640825 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 83.658636 meters # Minimum depth: 374.767979 meters looking forward 200.000000 meters along route # Maximum depth: 390.844465 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 324.767979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801673; longitude = -122.083521; duration = 167; # abortOnTimeout = True; initialDepth = 326.705282; finalDepth = 324.767979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.668888 # Actual altitude: 59.668888 # Commanded vehicle depth: 324.767979 # Seafloor depth: -384.436867 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 25 # Segment length 109.866745 meters # Minimum depth: 376.705282 meters looking forward 200.000000 meters along route # Maximum depth: 415.814783 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 326.705282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802254; longitude = -122.082924; duration = 219; initialDepth = 339.426967; finalDepth = 326.705282; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.695793 # Actual altitude: 61.695793 # Commanded vehicle depth: 326.705282 # Seafloor depth: -388.401075 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 25 # Segment length 104.600400 meters # Minimum depth: 389.426967 meters looking forward 200.000000 meters along route # Maximum depth: 417.007142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 339.426967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803018; longitude = -122.082140; duration = 209; initialDepth = 349.262872; finalDepth = 339.426967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.271897 # Actual altitude: 77.271897 # Commanded vehicle depth: 339.426967 # Seafloor depth: -416.698864 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.18; 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 to get to end of line 24 # Segment length 86.102910 meters # Minimum depth: 399.262872 meters looking forward 200.000000 meters along route # Maximum depth: 417.007142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 349.262872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803745; longitude = -122.081393; duration = 172; # abortOnTimeout = True; initialDepth = 349.262872; finalDepth = 349.262872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.271897 # Actual altitude: 77.271897 # Commanded vehicle depth: 349.262872 # Seafloor depth: -399.534721 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.18; 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 24 # Segment length 100.710087 meters # Minimum depth: 399.262872 meters looking forward 200.000000 meters along route # Maximum depth: 409.342044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 349.262872 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803219; longitude = -122.080683; duration = 201; initialDepth = 348.431758; finalDepth = 349.262872; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.721324 # Actual altitude: 57.721324 # Commanded vehicle depth: 349.262872 # Seafloor depth: -406.984196 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 103.284512 meters # Minimum depth: 398.431758 meters looking forward 200.000000 meters along route # Maximum depth: 409.342044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 348.431758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802604; longitude = -122.079853; duration = 206; initialDepth = 348.431758; finalDepth = 348.431758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.721324 # Actual altitude: 57.721324 # Commanded vehicle depth: 348.431758 # Seafloor depth: -406.091692 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 113.139095 meters # Minimum depth: 398.431758 meters looking forward 200.000000 meters along route # Maximum depth: 409.279862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 348.431758 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801973; longitude = -122.079002; duration = 226; initialDepth = 316.317838; finalDepth = 348.431758; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.659934 # Actual altitude: 57.659934 # Commanded vehicle depth: 348.431758 # Seafloor depth: -402.748857 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 23 # Segment length 155.763756 meters # Minimum depth: 366.317838 meters looking forward 200.000000 meters along route # Maximum depth: 408.740320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 316.317838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801282; longitude = -122.078069; duration = 311; # abortOnTimeout = True; initialDepth = 316.317838; finalDepth = 316.317838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.885318 # Actual altitude: 84.885318 # Commanded vehicle depth: 316.317838 # Seafloor depth: -401.203156 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.47; 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 100.511714 meters # Minimum depth: 366.317838 meters looking forward 200.000000 meters along route # Maximum depth: 383.953295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 316.317838 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800531; longitude = -122.076594; duration = 201; initialDepth = 322.474594; finalDepth = 316.317838; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.885318 # Actual altitude: 84.885318 # Commanded vehicle depth: 316.317838 # Seafloor depth: -372.070291 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.47; 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 106.460564 meters # Minimum depth: 372.474594 meters looking forward 200.000000 meters along route # Maximum depth: 413.394459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 322.474594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800047; longitude = -122.075642; duration = 212; initialDepth = 322.245013; finalDepth = 322.474594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.822509 # Actual altitude: 65.822509 # Commanded vehicle depth: 322.474594 # Seafloor depth: -388.297103 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 110.834298 meters # Minimum depth: 372.245013 meters looking forward 200.000000 meters along route # Maximum depth: 413.394459 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 322.245013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799533; longitude = -122.074634; duration = 221; initialDepth = 322.245013; finalDepth = 322.245013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.822509 # Actual altitude: 65.822509 # Commanded vehicle depth: 322.245013 # Seafloor depth: -387.134744 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 23 # Segment length 105.990379 meters # Minimum depth: 372.245013 meters looking forward 200.000000 meters along route # Maximum depth: 415.010251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 322.245013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798999; longitude = -122.073584; duration = 211; initialDepth = 324.100220; finalDepth = 322.245013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.889731 # Actual altitude: 64.889731 # Commanded vehicle depth: 322.245013 # Seafloor depth: -377.971499 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.47; 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 to get to end of line 22 # Segment length 92.602973 meters # Minimum depth: 374.100220 meters looking forward 200.000000 meters along route # Maximum depth: 432.878173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 324.100220 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798488; longitude = -122.072580; duration = 185; # abortOnTimeout = True; initialDepth = 290.486511; finalDepth = 324.100220; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.436424 # Actual altitude: 91.436424 # Commanded vehicle depth: 324.10022 # Seafloor depth: -415.536644 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.43; 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 22 # Segment length 100.045963 meters # Minimum depth: 340.486511 meters looking forward 200.000000 meters along route # Maximum depth: 432.878173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 290.486511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -122.072126; duration = 200; initialDepth = 283.598114; finalDepth = 290.486511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.144026 # Actual altitude: 100 # Commanded vehicle depth: 290.486511 # Seafloor depth: -405.630537 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 22 # Segment length 100.046162 meters # Minimum depth: 333.598114 meters looking forward 200.000000 meters along route # Maximum depth: 399.680275 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 283.598114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796926; longitude = -122.071636; duration = 200; initialDepth = 283.598114; finalDepth = 283.598114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 115.144026 # Actual altitude: 100 # Commanded vehicle depth: 283.598114 # Seafloor depth: -339.717296 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 22 # Segment length 103.731229 meters # Minimum depth: 333.598114 meters looking forward 200.000000 meters along route # Maximum depth: 439.215791 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 283.598114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796115; longitude = -122.071146; duration = 207; initialDepth = 355.912009; finalDepth = 283.598114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.389083 # Actual altitude: 72.389083 # Commanded vehicle depth: 283.598114 # Seafloor depth: -355.987197 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.72; 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 to get to end of line 21 # Segment length 170.669332 meters # Minimum depth: 405.912009 meters looking forward 200.000000 meters along route # Maximum depth: 465.983194 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.912009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795274; longitude = -122.070638; duration = 341; # abortOnTimeout = True; initialDepth = 354.467552; finalDepth = 355.912009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.482927 # Actual altitude: 93.482927 # Commanded vehicle depth: 355.912009 # Seafloor depth: -449.394936 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.04; 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 104.716086 meters # Minimum depth: 404.467552 meters looking forward 200.000000 meters along route # Maximum depth: 456.971888 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 354.467552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -122.069660; duration = 209; initialDepth = 354.467552; finalDepth = 354.467552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 93.482927 # Actual altitude: 93.482927 # Commanded vehicle depth: 354.467552 # Seafloor depth: -407.266463 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.04; 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 104.716376 meters # Minimum depth: 404.467552 meters looking forward 200.000000 meters along route # Maximum depth: 459.378251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 354.467552 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -122.069059; duration = 209; initialDepth = 350.062459; finalDepth = 354.467552; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.500841 # Actual altitude: 65.500841 # Commanded vehicle depth: 354.467552 # Seafloor depth: -419.968393 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 21 # Segment length 108.546174 meters # Minimum depth: 400.062459 meters looking forward 200.000000 meters along route # Maximum depth: 459.378251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 350.062459 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792330; longitude = -122.068459; duration = 217; initialDepth = 342.519931; finalDepth = 350.062459; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.026424 # Actual altitude: 78.026424 # Commanded vehicle depth: 350.062459 # Seafloor depth: -428.088883 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 167.483329 meters # Minimum depth: 392.519931 meters looking forward 200.000000 meters along route # Maximum depth: 409.070237 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 342.519931 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791489; longitude = -122.067837; duration = 334; # abortOnTimeout = True; initialDepth = 344.139624; finalDepth = 342.519931; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.026424 # Actual altitude: 78.026424 # Commanded vehicle depth: 342.519931 # Seafloor depth: -401.059380 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 102.744756 meters # Minimum depth: 394.139624 meters looking forward 200.000000 meters along route # Maximum depth: 439.842350 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 344.139624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790167; longitude = -122.066931; duration = 205; initialDepth = 346.706392; finalDepth = 344.139624; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.539449 # Actual altitude: 58.539449 # Commanded vehicle depth: 344.139624 # Seafloor depth: -398.919309 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 20 # Segment length 102.745008 meters # Minimum depth: 396.706392 meters looking forward 200.000000 meters along route # Maximum depth: 451.538754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 346.706392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789356; longitude = -122.066375; duration = 205; initialDepth = 376.175494; finalDepth = 346.706392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.763963 # Actual altitude: 94.763963 # Commanded vehicle depth: 346.706392 # Seafloor depth: -441.470355 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.43; 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 20 # Segment length 102.745260 meters # Minimum depth: 426.175494 meters looking forward 200.000000 meters along route # Maximum depth: 451.538754 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 376.175494 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -122.065819; duration = 205; initialDepth = 343.839370; finalDepth = 376.175494; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.763963 # Actual altitude: 94.763963 # Commanded vehicle depth: 376.175494 # Seafloor depth: -428.930695 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.43; 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 20 # Segment length 102.745513 meters # Minimum depth: 393.839370 meters looking forward 200.000000 meters along route # Maximum depth: 441.925985 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 343.839370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787733; longitude = -122.065264; duration = 205; initialDepth = 319.281793; finalDepth = 343.839370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.40602 # Actual altitude: 83.40602 # Commanded vehicle depth: 343.83937 # Seafloor depth: -427.245390 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.02; 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 102.745764 meters # Minimum depth: 369.281793 meters looking forward 200.000000 meters along route # Maximum depth: 428.441522 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 319.281793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786922; longitude = -122.064708; duration = 205; initialDepth = 319.281793; finalDepth = 319.281793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.40602 # Actual altitude: 83.40602 # Commanded vehicle depth: 319.281793 # Seafloor depth: -388.513170 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.02; 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 102.746017 meters # Minimum depth: 369.281793 meters looking forward 200.000000 meters along route # Maximum depth: 390.968608 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 319.281793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786111; longitude = -122.064152; duration = 205; initialDepth = 332.589080; finalDepth = 319.281793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.231377 # Actual altitude: 69.231377 # Commanded vehicle depth: 319.281793 # Seafloor depth: -380.630827 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.77; 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 20 # Segment length 106.544314 meters # Minimum depth: 382.589080 meters looking forward 200.000000 meters along route # Maximum depth: 414.434612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 332.589080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785300; longitude = -122.063596; duration = 213; initialDepth = 340.358671; finalDepth = 332.589080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.349034 # Actual altitude: 61.349034 # Commanded vehicle depth: 332.58908 # Seafloor depth: -382.589080 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 110.093239 meters # Minimum depth: 390.358671 meters looking forward 200.000000 meters along route # Maximum depth: 416.588669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.358671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784459; longitude = -122.063020; duration = 220; # abortOnTimeout = True; initialDepth = 344.209687; finalDepth = 340.358671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.229998 # Actual altitude: 76.229998 # Commanded vehicle depth: 340.358671 # Seafloor depth: -416.588669 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.87; 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 19 # Segment length 105.643608 meters # Minimum depth: 394.209687 meters looking forward 200.000000 meters along route # Maximum depth: 411.237018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 344.209687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783811; longitude = -122.062086; duration = 211; initialDepth = 344.209687; finalDepth = 344.209687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.229998 # Actual altitude: 76.229998 # Commanded vehicle depth: 344.209687 # Seafloor depth: -395.019610 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.87; 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 19 # Segment length 100.532521 meters # Minimum depth: 394.209687 meters looking forward 200.000000 meters along route # Maximum depth: 408.012010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 344.209687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783188; longitude = -122.061190; duration = 201; initialDepth = 352.670596; finalDepth = 344.209687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1090850000001 # Actual altitude: 58.1090850000001 # Commanded vehicle depth: 344.209687 # Seafloor depth: -402.318772 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 101.943704 meters # Minimum depth: 402.670596 meters looking forward 200.000000 meters along route # Maximum depth: 408.012010 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.670596 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782596; longitude = -122.060337; duration = 203; initialDepth = 352.089706; finalDepth = 352.670596; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.1090850000001 # Actual altitude: 58.1090850000001 # Commanded vehicle depth: 352.670596 # Seafloor depth: -403.819747 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 104.957469 meters # Minimum depth: 402.089706 meters looking forward 200.000000 meters along route # Maximum depth: 409.253675 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.089706 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781996; longitude = -122.059472; duration = 209; # abortOnTimeout = True; initialDepth = 353.101788; finalDepth = 352.089706; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.149151 # Actual altitude: 51.149151 # Commanded vehicle depth: 352.089706 # Seafloor depth: -402.089706 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 18 # Segment length 101.155074 meters # Minimum depth: 403.101788 meters looking forward 200.000000 meters along route # Maximum depth: 411.175649 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 353.101788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781154; longitude = -122.058935; duration = 202; initialDepth = 355.710663; finalDepth = 353.101788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.13359 # Actual altitude: 55.13359 # Commanded vehicle depth: 353.101788 # Seafloor depth: -408.235378 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 101.155296 meters # Minimum depth: 405.710663 meters looking forward 200.000000 meters along route # Maximum depth: 413.114054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.710663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780343; longitude = -122.058417; duration = 202; initialDepth = 355.710663; finalDepth = 355.710663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.13359 # Actual altitude: 55.13359 # Commanded vehicle depth: 355.710663 # Seafloor depth: -409.510665 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 108.643318 meters # Minimum depth: 405.710663 meters looking forward 200.000000 meters along route # Maximum depth: 414.981274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.710663 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779532; longitude = -122.057899; duration = 217; initialDepth = 355.170914; finalDepth = 355.710663; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.861819 # Actual altitude: 56.861819 # Commanded vehicle depth: 355.710663 # Seafloor depth: -412.572482 # 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 = 20; 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; } # ####################################################### # # 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 116.222467 meters # Minimum depth: 405.170914 meters looking forward 200.000000 meters along route # Maximum depth: 434.195610 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.170914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778661; longitude = -122.057343; duration = 232; # abortOnTimeout = True; initialDepth = 359.562444; finalDepth = 355.170914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.861819 # Actual altitude: 56.861819 # Commanded vehicle depth: 355.170914 # Seafloor depth: -405.170914 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 102.417679 meters # Minimum depth: 409.562444 meters looking forward 200.000000 meters along route # Maximum depth: 462.742857 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 359.562444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777783; longitude = -122.058053; duration = 204; initialDepth = 388.115192; finalDepth = 359.562444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.26753 # Actual altitude: 75.26753 # Commanded vehicle depth: 359.562444 # Seafloor depth: -434.829974 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 17 # Segment length 107.330198 meters # Minimum depth: 438.115192 meters looking forward 200.000000 meters along route # Maximum depth: 498.839982 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 388.115192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777009; longitude = -122.058678; duration = 214; initialDepth = 420.079873; finalDepth = 388.115192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.052168 # Actual altitude: 78.052168 # Commanded vehicle depth: 388.115192 # Seafloor depth: -466.167360 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.42; 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 17 # Segment length 102.075724 meters # Minimum depth: 470.079873 meters looking forward 200.000000 meters along route # Maximum depth: 528.477916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 420.079873 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776198; longitude = -122.059334; duration = 204; initialDepth = 455.320636; finalDepth = 420.079873; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.472262 # Actual altitude: 79.472262 # Commanded vehicle depth: 420.079873 # Seafloor depth: -499.552135 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.84; 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 100.659947 meters # Minimum depth: 505.320636 meters looking forward 200.000000 meters along route # Maximum depth: 554.398234 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 455.320636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775426; longitude = -122.059957; duration = 201; initialDepth = 480.955928; finalDepth = 455.320636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.472262 # Actual altitude: 79.472262 # Commanded vehicle depth: 455.320636 # Seafloor depth: -529.459334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.84; 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 101.109673 meters # Minimum depth: 530.955928 meters looking forward 200.000000 meters along route # Maximum depth: 580.390304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 480.955928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774665; longitude = -122.060572; duration = 202; initialDepth = 507.030340; finalDepth = 480.955928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.732974 # Actual altitude: 76.732974 # Commanded vehicle depth: 480.955928 # Seafloor depth: -557.688902 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.02; 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 17 # Segment length 101.627114 meters # Minimum depth: 557.030340 meters looking forward 200.000000 meters along route # Maximum depth: 600.033530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 507.030340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773901; longitude = -122.061190; duration = 203; initialDepth = 532.393112; finalDepth = 507.030340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.732974 # Actual altitude: 76.732974 # Commanded vehicle depth: 507.03034 # Seafloor depth: -580.878067 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.02; 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 17 # Segment length 100.143611 meters # Minimum depth: 582.393112 meters looking forward 200.000000 meters along route # Maximum depth: 617.657097 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 532.393112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773133; longitude = -122.061810; duration = 200; initialDepth = 552.904005; finalDepth = 532.393112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.847727 # Actual altitude: 73.847727 # Commanded vehicle depth: 532.393112 # Seafloor depth: -601.786921 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.15; 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 17 # Segment length 102.594293 meters # Minimum depth: 602.904005 meters looking forward 200.000000 meters along route # Maximum depth: 638.055341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 552.904005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772377; longitude = -122.062422; duration = 205; initialDepth = 573.653599; finalDepth = 552.904005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.393809 # Actual altitude: 69.393809 # Commanded vehicle depth: 552.904005 # Seafloor depth: -619.831580 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.332283 meters # Minimum depth: 623.653599 meters looking forward 200.000000 meters along route # Maximum depth: 659.195910 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 573.653599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771601; longitude = -122.063049; duration = 214; initialDepth = 594.918557; finalDepth = 573.653599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.927575 # Actual altitude: 66.927575 # Commanded vehicle depth: 573.653599 # Seafloor depth: -640.571858 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 17 # Segment length 101.903083 meters # Minimum depth: 644.918557 meters looking forward 200.000000 meters along route # Maximum depth: 685.830562 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 594.918557 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770790; longitude = -122.063704; duration = 203; initialDepth = 614.635908; finalDepth = 594.918557; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.918259 # Actual altitude: 66.918259 # Commanded vehicle depth: 594.918557 # Seafloor depth: -660.813684 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 17 # Segment length 100.836528 meters # Minimum depth: 664.635908 meters looking forward 200.000000 meters along route # Maximum depth: 705.022753 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 614.635908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770020; longitude = -122.064327; duration = 201; initialDepth = 639.537522; finalDepth = 614.635908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.9470710000001 # Actual altitude: 73.9470710000001 # Commanded vehicle depth: 614.635908 # Seafloor depth: -688.582979 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.18; 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 17 # Segment length 100.937013 meters # Minimum depth: 689.537522 meters looking forward 200.000000 meters along route # Maximum depth: 740.522479 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 639.537522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769258; longitude = -122.064942; duration = 201; initialDepth = 665.201676; finalDepth = 639.537522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.342703 # Actual altitude: 75.342703 # Commanded vehicle depth: 639.537522 # Seafloor depth: -714.880225 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.60; 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 17 # Segment length 101.803715 meters # Minimum depth: 715.201676 meters looking forward 200.000000 meters along route # Maximum depth: 765.578557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 665.201676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768495; longitude = -122.065559; duration = 203; initialDepth = 689.867361; finalDepth = 665.201676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.342703 # Actual altitude: 75.342703 # Commanded vehicle depth: 665.201676 # Seafloor depth: -739.377851 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.60; 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 17 # Segment length 107.333778 meters # Minimum depth: 739.867361 meters looking forward 200.000000 meters along route # Maximum depth: 800.170821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 689.867361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767726; longitude = -122.066181; duration = 214; initialDepth = 724.874184; finalDepth = 689.867361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8928860000001 # Actual altitude: 81.8928860000001 # Commanded vehicle depth: 689.867361 # Seafloor depth: -771.760247 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.57; 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 17 # Segment length 102.696516 meters # Minimum depth: 774.874184 meters looking forward 200.000000 meters along route # Maximum depth: 824.917703 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 724.874184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766915; longitude = -122.066836; duration = 205; initialDepth = 759.582687; finalDepth = 724.874184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.8928860000001 # Actual altitude: 81.8928860000001 # Commanded vehicle depth: 724.874184 # Seafloor depth: -801.294979 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.57; 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 17 # Segment length 100.045919 meters # Minimum depth: 809.582687 meters looking forward 200.000000 meters along route # Maximum depth: 840.073588 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 759.582687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766139; longitude = -122.067464; duration = 200; initialDepth = 777.197297; finalDepth = 759.582687; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.420795 # Actual altitude: 76.420795 # Commanded vehicle depth: 759.582687 # Seafloor depth: -826.619421 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.93; 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 17 # Segment length 101.730436 meters # Minimum depth: 827.197297 meters looking forward 200.000000 meters along route # Maximum depth: 868.423752 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 777.197297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765383; longitude = -122.068075; duration = 203; initialDepth = 797.092378; finalDepth = 777.197297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.036734 # Actual altitude: 67.036734 # Commanded vehicle depth: 777.197297 # Seafloor depth: -842.927216 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.013116 meters # Minimum depth: 847.092378 meters looking forward 200.000000 meters along route # Maximum depth: 904.688151 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 797.092378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764614; longitude = -122.068696; duration = 202; initialDepth = 827.524649; finalDepth = 797.092378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.1226949999999 # Actual altitude: 74.1226949999999 # Commanded vehicle depth: 797.092378 # Seafloor depth: -871.215073 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.24; 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 17 # Segment length 100.764345 meters # Minimum depth: 877.524649 meters looking forward 200.000000 meters along route # Maximum depth: 933.488923 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 827.524649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763851; longitude = -122.069313; duration = 201; initialDepth = 861.126190; finalDepth = 827.524649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.825678 # Actual altitude: 78.825678 # Commanded vehicle depth: 827.524649 # Seafloor depth: -906.350327 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 101.980323 meters # Minimum depth: 911.126190 meters looking forward 200.000000 meters along route # Maximum depth: 950.022883 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 861.126190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763089; longitude = -122.069928; duration = 203; initialDepth = 888.443993; finalDepth = 861.126190; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.825678 # Actual altitude: 78.825678 # Commanded vehicle depth: 861.12619 # Seafloor depth: -936.837782 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.335865 meters # Minimum depth: 938.443993 meters looking forward 200.000000 meters along route # Maximum depth: 984.308095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 888.443993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762318; longitude = -122.070551; duration = 214; initialDepth = 904.657992; finalDepth = 888.443993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.711592 # Actual altitude: 75.711592 # Commanded vehicle depth: 888.443993 # Seafloor depth: -951.527300 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 17 # Segment length 107.336178 meters # Minimum depth: 954.657992 meters looking forward 200.000000 meters along route # Maximum depth: 984.308095 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 904.657992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761507; longitude = -122.071207; duration = 214; initialDepth = 927.914230; finalDepth = 904.657992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0814799999999 # Actual altitude: 78.0814799999999 # Commanded vehicle depth: 904.657992 # Seafloor depth: -982.739472 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.42; 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 17 # Segment length 111.320319 meters # Minimum depth: 977.914230 meters looking forward 200.000000 meters along route # Maximum depth: 994.016830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 927.914230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760696; longitude = -122.071862; duration = 222; initialDepth = 930.766331; finalDepth = 927.914230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 78.0814799999999 # Actual altitude: 78.0814799999999 # Commanded vehicle depth: 927.91423 # Seafloor depth: -978.666394 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.42; 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 to get to end of line 16 # Segment length 108.277346 meters # Minimum depth: 980.766331 meters looking forward 200.000000 meters along route # Maximum depth: 1003.908181 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 930.766331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759855; longitude = -122.072542; duration = 216; # abortOnTimeout = True; initialDepth = 944.143216; finalDepth = 930.766331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1343499999999 # Actual altitude: 65.1343499999999 # Commanded vehicle depth: 930.766331 # Seafloor depth: -995.900681 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 100.785486 meters # Minimum depth: 994.143216 meters looking forward 200.000000 meters along route # Maximum depth: 1018.256839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 944.143216 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759416; longitude = -122.073625; duration = 201; initialDepth = 953.010913; finalDepth = 944.143216; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.1343499999999 # Actual altitude: 65.1343499999999 # Commanded vehicle depth: 944.143216 # Seafloor depth: -1005.178081 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 100.785892 meters # Minimum depth: 1003.010913 meters looking forward 200.000000 meters along route # Maximum depth: 1038.463118 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 953.010913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759007; longitude = -122.074634; duration = 201; initialDepth = 961.826402; finalDepth = 953.010913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.034865 # Actual altitude: 61.034865 # Commanded vehicle depth: 953.010913 # Seafloor depth: -1011.763353 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.31; 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 16 # Segment length 100.786300 meters # Minimum depth: 1011.826402 meters looking forward 200.000000 meters along route # Maximum depth: 1074.494123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 961.826402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758598; longitude = -122.075642; duration = 201; initialDepth = 995.462877; finalDepth = 961.826402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9671099999999 # Actual altitude: 75.9671099999999 # Commanded vehicle depth: 961.826402 # Seafloor depth: -1037.793512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.786706 meters # Minimum depth: 1045.462877 meters looking forward 200.000000 meters along route # Maximum depth: 1074.494123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 995.462877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758189; longitude = -122.076650; duration = 201; initialDepth = 1013.450264; finalDepth = 995.462877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9671099999999 # Actual altitude: 75.9671099999999 # Commanded vehicle depth: 995.462877 # Seafloor depth: -1065.528082 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.787113 meters # Minimum depth: 1063.450264 meters looking forward 200.000000 meters along route # Maximum depth: 1073.054615 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1013.450264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757780; longitude = -122.077658; duration = 201; initialDepth = 1016.129672; finalDepth = 1013.450264; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.0652050000001 # Actual altitude: 70.0652050000001 # Commanded vehicle depth: 1013.450264 # Seafloor depth: -1066.910183 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.02; 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 16 # Segment length 100.787520 meters # Minimum depth: 1066.129672 meters looking forward 200.000000 meters along route # Maximum depth: 1089.116398 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1016.129672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757372; longitude = -122.078667; duration = 201; initialDepth = 1025.610734; finalDepth = 1016.129672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3050559999999 # Actual altitude: 58.3050559999999 # Commanded vehicle depth: 1016.129672 # Seafloor depth: -1074.434728 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.787927 meters # Minimum depth: 1075.610734 meters looking forward 200.000000 meters along route # Maximum depth: 1108.925525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1025.610734 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756963; longitude = -122.079675; duration = 201; initialDepth = 1047.492297; finalDepth = 1025.610734; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4079119999999 # Actual altitude: 66.4079119999999 # Commanded vehicle depth: 1025.610734 # Seafloor depth: -1092.018646 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.788333 meters # Minimum depth: 1097.492297 meters looking forward 200.000000 meters along route # Maximum depth: 1132.089011 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1047.492297 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756554; longitude = -122.080683; duration = 201; initialDepth = 1062.838680; finalDepth = 1047.492297; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.4079119999999 # Actual altitude: 66.4079119999999 # Commanded vehicle depth: 1047.492297 # Seafloor depth: -1108.507888 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 16 # Segment length 100.788741 meters # Minimum depth: 1112.838680 meters looking forward 200.000000 meters along route # Maximum depth: 1139.520110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1062.838680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756145; longitude = -122.081692; duration = 201; initialDepth = 1079.040759; finalDepth = 1062.838680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.11987 # Actual altitude: 69.11987 # Commanded vehicle depth: 1062.83868 # Seafloor depth: -1131.958550 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 100.789147 meters # Minimum depth: 1129.040759 meters looking forward 200.000000 meters along route # Maximum depth: 1139.520110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1079.040759 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755736; longitude = -122.082700; duration = 201; initialDepth = 1081.519893; finalDepth = 1079.040759; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.11987 # Actual altitude: 69.11987 # Commanded vehicle depth: 1079.040759 # Seafloor depth: -1132.047193 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 100.789555 meters # Minimum depth: 1131.519893 meters looking forward 200.000000 meters along route # Maximum depth: 1137.600581 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1081.519893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755327; longitude = -122.083708; duration = 201; initialDepth = 1083.238113; finalDepth = 1081.519893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.0064340000001 # Actual altitude: 53.0064340000001 # Commanded vehicle depth: 1081.519893 # Seafloor depth: -1133.649522 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 100.789961 meters # Minimum depth: 1133.238113 meters looking forward 200.000000 meters along route # Maximum depth: 1146.715526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1083.238113 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754918; longitude = -122.084716; duration = 201; initialDepth = 1086.849338; finalDepth = 1083.238113; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8435119999999 # Actual altitude: 52.8435119999999 # Commanded vehicle depth: 1083.238113 # Seafloor depth: -1136.081625 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 100.790368 meters # Minimum depth: 1136.849338 meters looking forward 200.000000 meters along route # Maximum depth: 1166.368417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1086.849338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754510; longitude = -122.085725; duration = 201; initialDepth = 1102.528877; finalDepth = 1086.849338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.3315580000001 # Actual altitude: 63.3315580000001 # Commanded vehicle depth: 1086.849338 # Seafloor depth: -1150.180896 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.00; 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 16 # Segment length 100.790776 meters # Minimum depth: 1152.528877 meters looking forward 200.000000 meters along route # Maximum depth: 1193.075110 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1102.528877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754101; longitude = -122.086733; duration = 201; initialDepth = 1118.376910; finalDepth = 1102.528877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.5010669999999 # Actual altitude: 65.5010669999999 # Commanded vehicle depth: 1102.528877 # Seafloor depth: -1168.029944 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 100.791182 meters # Minimum depth: 1168.376910 meters looking forward 200.000000 meters along route # Maximum depth: 1222.105770 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1118.376910 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753692; longitude = -122.087741; duration = 201; initialDepth = 1144.951013; finalDepth = 1118.376910; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.2302540000001 # Actual altitude: 71.2302540000001 # Commanded vehicle depth: 1118.37691 # Seafloor depth: -1189.607164 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 16 # Segment length 105.428326 meters # Minimum depth: 1194.951013 meters looking forward 200.000000 meters along route # Maximum depth: 1223.121736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1144.951013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753283; longitude = -122.088749; duration = 210; initialDepth = 1164.157377; finalDepth = 1144.951013; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.0968759999998 # Actual altitude: 78.0968759999998 # Commanded vehicle depth: 1144.951013 # Seafloor depth: -1223.047889 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.43; 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 16 # Segment length 103.646774 meters # Minimum depth: 1214.157377 meters looking forward 200.000000 meters along route # Maximum depth: 1223.121736 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1164.157377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752855; longitude = -122.089804; duration = 207; initialDepth = 1168.559948; finalDepth = 1164.157377; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 78.0968759999998 # Actual altitude: 78.0968759999998 # Commanded vehicle depth: 1164.157377 # Seafloor depth: -1217.708571 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.43; 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 170.723122 meters # Minimum depth: 1218.559948 meters looking forward 200.000000 meters along route # Maximum depth: 1231.912462 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1168.559948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752435; longitude = -122.090841; duration = 341; # abortOnTimeout = True; initialDepth = 1172.954897; finalDepth = 1168.559948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8176149999999 # Actual altitude: 53.8176149999999 # Commanded vehicle depth: 1168.559948 # Seafloor depth: -1222.377563 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 102.448250 meters # Minimum depth: 1222.954897 meters looking forward 200.000000 meters along route # Maximum depth: 1251.398942 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1172.954897 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753486; longitude = -122.092238; duration = 204; initialDepth = 1180.838382; finalDepth = 1172.954897; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.8176149999999 # Actual altitude: 53.8176149999999 # Commanded vehicle depth: 1172.954897 # Seafloor depth: -1223.782270 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.447792 meters # Minimum depth: 1230.838382 meters looking forward 200.000000 meters along route # Maximum depth: 1277.257145 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1180.838382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754117; longitude = -122.093076; duration = 204; initialDepth = 1202.401002; finalDepth = 1180.838382; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.1129660000001 # Actual altitude: 70.1129660000001 # Commanded vehicle depth: 1180.838382 # Seafloor depth: -1250.951348 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.447335 meters # Minimum depth: 1252.401002 meters looking forward 200.000000 meters along route # Maximum depth: 1282.283478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1202.401002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754748; longitude = -122.093914; duration = 204; initialDepth = 1220.981391; finalDepth = 1202.401002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3563339999998 # Actual altitude: 75.3563339999998 # Commanded vehicle depth: 1202.401002 # Seafloor depth: -1277.757336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.61; 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 15 # Segment length 102.446877 meters # Minimum depth: 1270.981391 meters looking forward 200.000000 meters along route # Maximum depth: 1282.283478 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1220.981391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755379; longitude = -122.094752; duration = 204; initialDepth = 1220.981391; finalDepth = 1220.981391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.3563339999998 # Actual altitude: 75.3563339999998 # Commanded vehicle depth: 1220.981391 # Seafloor depth: -1275.300682 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.61; 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 15 # Segment length 102.446419 meters # Minimum depth: 1270.981391 meters looking forward 200.000000 meters along route # Maximum depth: 1283.282766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1220.981391 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756010; longitude = -122.095590; duration = 204; initialDepth = 1223.056868; finalDepth = 1220.981391; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.319291 # Actual altitude: 54.319291 # Commanded vehicle depth: 1220.981391 # Seafloor depth: -1272.920819 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 15 # Segment length 102.445961 meters # Minimum depth: 1273.056868 meters looking forward 200.000000 meters along route # Maximum depth: 1283.282766 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1223.056868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756641; longitude = -122.096428; duration = 204; initialDepth = 1218.293325; finalDepth = 1223.056868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.0730740000001 # Actual altitude: 58.0730740000001 # Commanded vehicle depth: 1223.056868 # Seafloor depth: -1281.129942 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.445504 meters # Minimum depth: 1268.293325 meters looking forward 200.000000 meters along route # Maximum depth: 1282.500348 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1218.293325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757272; longitude = -122.097266; duration = 204; initialDepth = 1209.437363; finalDepth = 1218.293325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.459337 # Actual altitude: 60.459337 # Commanded vehicle depth: 1218.293325 # Seafloor depth: -1278.752662 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 102.687215 meters # Minimum depth: 1259.437363 meters looking forward 200.000000 meters along route # Maximum depth: 1275.998396 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1209.437363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757902; longitude = -122.098104; duration = 205; initialDepth = 1201.353314; finalDepth = 1209.437363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0251330000001 # Actual altitude: 61.0251330000001 # Commanded vehicle depth: 1209.437363 # Seafloor depth: -1270.462496 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.31; 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 15 # Segment length 102.202420 meters # Minimum depth: 1251.353314 meters looking forward 200.000000 meters along route # Maximum depth: 1268.675164 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1201.353314 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758535; longitude = -122.098944; duration = 204; initialDepth = 1166.621306; finalDepth = 1201.353314; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0251330000001 # Actual altitude: 61.0251330000001 # Commanded vehicle depth: 1201.353314 # Seafloor depth: -1261.249084 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.31; 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 15 # Segment length 103.209875 meters # Minimum depth: 1216.621306 meters looking forward 200.000000 meters along route # Maximum depth: 1259.397086 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1166.621306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759164; longitude = -122.099780; duration = 206; initialDepth = 1126.397632; finalDepth = 1166.621306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.2252349999999 # Actual altitude: 86.2252349999999 # Commanded vehicle depth: 1166.621306 # Seafloor depth: -1252.846541 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.87; 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 15 # Segment length 101.677930 meters # Minimum depth: 1176.397632 meters looking forward 200.000000 meters along route # Maximum depth: 1250.653750 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1126.397632 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759800; longitude = -122.100625; duration = 203; initialDepth = 1086.172082; finalDepth = 1126.397632; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.7205270000002 # Actual altitude: 97.7205270000002 # Commanded vehicle depth: 1126.397632 # Seafloor depth: -1224.118159 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.32; 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 15 # Segment length 103.732525 meters # Minimum depth: 1136.172082 meters looking forward 200.000000 meters along route # Maximum depth: 1216.418188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1086.172082 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760426; longitude = -122.101457; duration = 207; initialDepth = 1072.232995; finalDepth = 1086.172082; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.7205270000002 # Actual altitude: 97.7205270000002 # Commanded vehicle depth: 1086.172082 # Seafloor depth: -1175.794660 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.32; 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 15 # Segment length 101.153449 meters # Minimum depth: 1122.232995 meters looking forward 200.000000 meters along route # Maximum depth: 1176.315946 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1072.232995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761065; longitude = -122.102305; duration = 202; initialDepth = 1072.232995; finalDepth = 1072.232995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.622578 # Actual altitude: 89.622578 # Commanded vehicle depth: 1072.232995 # Seafloor depth: -1137.034066 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.89; 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 104.255167 meters # Minimum depth: 1122.232995 meters looking forward 200.000000 meters along route # Maximum depth: 1133.291708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1072.232995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761688; longitude = -122.103133; duration = 208; initialDepth = 1042.662127; finalDepth = 1072.232995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8010709999999 # Actual altitude: 64.8010709999999 # Commanded vehicle depth: 1072.232995 # Seafloor depth: -1129.913883 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 100.628976 meters # Minimum depth: 1092.662127 meters looking forward 200.000000 meters along route # Maximum depth: 1133.291708 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1042.662127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762330; longitude = -122.103986; duration = 201; initialDepth = 994.218891; finalDepth = 1042.662127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.7581679999998 # Actual altitude: 85.7581679999998 # Commanded vehicle depth: 1042.662127 # Seafloor depth: -1128.420295 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 15 # Segment length 104.777799 meters # Minimum depth: 1044.218891 meters looking forward 200.000000 meters along route # Maximum depth: 1126.493713 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 994.218891 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762949; longitude = -122.104809; duration = 209; initialDepth = 958.382670; finalDepth = 994.218891; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.6270179999999 # Actual altitude: 95.6270179999999 # Commanded vehicle depth: 994.218891 # Seafloor depth: -1089.845909 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.69; 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 15 # Segment length 104.965948 meters # Minimum depth: 1008.382670 meters looking forward 200.000000 meters along route # Maximum depth: 1082.397733 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 958.382670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763595; longitude = -122.105666; duration = 209; initialDepth = 956.143295; finalDepth = 958.382670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 95.6270179999999 # Actual altitude: 95.6270179999999 # Commanded vehicle depth: 958.38267 # Seafloor depth: -1043.174963 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.69; 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 139.273867 meters # Minimum depth: 1006.143295 meters looking forward 200.000000 meters along route # Maximum depth: 1042.195325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 956.143295 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764241; longitude = -122.106525; duration = 278; # abortOnTimeout = True; initialDepth = 973.969515; finalDepth = 956.143295; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.792293 # Actual altitude: 84.792293 # Commanded vehicle depth: 956.143295 # Seafloor depth: -1006.143295 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.44; 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 14 # Segment length 104.478210 meters # Minimum depth: 1023.969515 meters looking forward 200.000000 meters along route # Maximum depth: 1042.195325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 973.969515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763760; longitude = -122.107967; duration = 208; initialDepth = 973.969515; finalDepth = 973.969515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.299129 # Actual altitude: 60.299129 # Commanded vehicle depth: 973.969515 # Seafloor depth: -1034.268644 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 106.240754 meters # Minimum depth: 1023.969515 meters looking forward 200.000000 meters along route # Maximum depth: 1047.009290 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 973.969515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763400; longitude = -122.109048; duration = 212; initialDepth = 976.856696; finalDepth = 973.969515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.299129 # Actual altitude: 60.299129 # Commanded vehicle depth: 973.969515 # Seafloor depth: -1033.333307 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.716856 meters # Minimum depth: 1026.856696 meters looking forward 200.000000 meters along route # Maximum depth: 1048.690876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 976.856696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763033; longitude = -122.110148; duration = 205; initialDepth = 960.007932; finalDepth = 976.856696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.336149 # Actual altitude: 68.336149 # Commanded vehicle depth: 976.856696 # Seafloor depth: -1045.192845 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.50; 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 14 # Segment length 104.479401 meters # Minimum depth: 1010.007932 meters looking forward 200.000000 meters along route # Maximum depth: 1048.690876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 960.007932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762679; longitude = -122.111211; duration = 208; initialDepth = 960.007932; finalDepth = 960.007932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.447265 # Actual altitude: 73.447265 # Commanded vehicle depth: 960.007932 # Seafloor depth: -1033.455197 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.03; 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 14 # Segment length 106.705137 meters # Minimum depth: 1010.007932 meters looking forward 200.000000 meters along route # Maximum depth: 1037.768063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 960.007932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762318; longitude = -122.112292; duration = 213; initialDepth = 960.192125; finalDepth = 960.007932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.447265 # Actual altitude: 73.447265 # Commanded vehicle depth: 960.007932 # Seafloor depth: -1010.107315 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.03; 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 14 # Segment length 102.254854 meters # Minimum depth: 1010.192125 meters looking forward 200.000000 meters along route # Maximum depth: 1056.405493 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 960.192125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761950; longitude = -122.113396; duration = 204; initialDepth = 986.924928; finalDepth = 960.192125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.590224 # Actual altitude: 68.590224 # Commanded vehicle depth: 960.192125 # Seafloor depth: -1028.782349 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.58; 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 14 # Segment length 104.480590 meters # Minimum depth: 1036.924928 meters looking forward 200.000000 meters along route # Maximum depth: 1098.193570 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 986.924928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761597; longitude = -122.114455; duration = 208; initialDepth = 1007.445450; finalDepth = 986.924928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.983154 # Actual altitude: 68.983154 # Commanded vehicle depth: 986.924928 # Seafloor depth: -1055.908082 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.69; 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 14 # Segment length 107.169531 meters # Minimum depth: 1057.445450 meters looking forward 200.000000 meters along route # Maximum depth: 1138.316413 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1007.445450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761237; longitude = -122.115536; duration = 214; initialDepth = 1055.031689; finalDepth = 1007.445450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.562046 # Actual altitude: 91.562046 # Commanded vehicle depth: 1007.44545 # Seafloor depth: -1099.007496 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.47; 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 14 # Segment length 101.792841 meters # Minimum depth: 1105.031689 meters looking forward 200.000000 meters along route # Maximum depth: 1140.521506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1055.031689 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760867; longitude = -122.116645; duration = 203; initialDepth = 1060.640126; finalDepth = 1055.031689; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 91.562046 # Actual altitude: 91.562046 # Commanded vehicle depth: 1055.031689 # Seafloor depth: -1139.339671 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.47; 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 14 # Segment length 104.481782 meters # Minimum depth: 1110.640126 meters looking forward 200.000000 meters along route # Maximum depth: 1140.521506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1060.640126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760516; longitude = -122.117699; duration = 208; initialDepth = 1060.640126; finalDepth = 1060.640126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.307982 # Actual altitude: 84.307982 # Commanded vehicle depth: 1060.640126 # Seafloor depth: -1111.730401 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.29; 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 14 # Segment length 107.633935 meters # Minimum depth: 1110.640126 meters looking forward 200.000000 meters along route # Maximum depth: 1167.273662 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1060.640126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760155; longitude = -122.118780; duration = 215; initialDepth = 1094.202363; finalDepth = 1060.640126; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6431250000001 # Actual altitude: 79.6431250000001 # Commanded vehicle depth: 1060.640126 # Seafloor depth: -1140.283251 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.89; 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 14 # Segment length 101.330818 meters # Minimum depth: 1144.202363 meters looking forward 200.000000 meters along route # Maximum depth: 1182.847897 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1094.202363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759784; longitude = -122.119894; duration = 202; initialDepth = 1119.523203; finalDepth = 1094.202363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.6431250000001 # Actual altitude: 79.6431250000001 # Commanded vehicle depth: 1094.202363 # Seafloor depth: -1167.890737 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.89; 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 14 # Segment length 104.482972 meters # Minimum depth: 1169.523203 meters looking forward 200.000000 meters along route # Maximum depth: 1195.261876 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1119.523203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759434; longitude = -122.120943; duration = 208; initialDepth = 1131.304737; finalDepth = 1119.523203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.6883739999998 # Actual altitude: 73.6883739999998 # Commanded vehicle depth: 1119.523203 # Seafloor depth: -1183.246232 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 108.098351 meters # Minimum depth: 1181.304737 meters looking forward 200.000000 meters along route # Maximum depth: 1205.745561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1131.304737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.759074; longitude = -122.122024; duration = 216; initialDepth = 1143.354010; finalDepth = 1131.304737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.723029 # Actual altitude: 63.723029 # Commanded vehicle depth: 1131.304737 # Seafloor depth: -1190.219287 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.868785 meters # Minimum depth: 1193.354010 meters looking forward 200.000000 meters along route # Maximum depth: 1224.579785 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1143.354010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758701; longitude = -122.123143; duration = 201; initialDepth = 1156.398750; finalDepth = 1143.354010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.461102 # Actual altitude: 61.461102 # Commanded vehicle depth: 1143.35401 # Seafloor depth: -1204.815112 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 104.799733 meters # Minimum depth: 1206.398750 meters looking forward 200.000000 meters along route # Maximum depth: 1231.200188 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1156.398750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758353; longitude = -122.124187; duration = 209; initialDepth = 1175.424698; finalDepth = 1156.398750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4231049999999 # Actual altitude: 68.4231049999999 # Commanded vehicle depth: 1156.39875 # Seafloor depth: -1224.821855 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 108.247207 meters # Minimum depth: 1225.424698 meters looking forward 200.000000 meters along route # Maximum depth: 1243.028690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1175.424698 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757991; longitude = -122.125272; duration = 216; initialDepth = 1182.015704; finalDepth = 1175.424698; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.4231049999999 # Actual altitude: 68.4231049999999 # Commanded vehicle depth: 1175.424698 # Seafloor depth: -1231.235692 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 100.406740 meters # Minimum depth: 1232.015704 meters looking forward 200.000000 meters along route # Maximum depth: 1245.194484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1182.015704 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757618; longitude = -122.126392; duration = 200; initialDepth = 1190.730026; finalDepth = 1182.015704; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1033080000002 # Actual altitude: 57.1033080000002 # Commanded vehicle depth: 1182.015704 # Seafloor depth: -1239.119012 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.13; 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 14 # Segment length 105.264126 meters # Minimum depth: 1240.730026 meters looking forward 200.000000 meters along route # Maximum depth: 1245.368403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1190.730026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757272; longitude = -122.127431; duration = 210; initialDepth = 1192.177035; finalDepth = 1190.730026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1033080000002 # Actual altitude: 57.1033080000002 # Commanded vehicle depth: 1190.730026 # Seafloor depth: -1244.480194 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.13; 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 14 # Segment length 103.706980 meters # Minimum depth: 1242.177035 meters looking forward 200.000000 meters along route # Maximum depth: 1251.593822 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1192.177035 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756908; longitude = -122.128521; duration = 207; initialDepth = 1194.665929; finalDepth = 1192.177035; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.750168 # Actual altitude: 53.750168 # Commanded vehicle depth: 1192.177035 # Seafloor depth: -1245.641857 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 104.486149 meters # Minimum depth: 1244.665929 meters looking forward 200.000000 meters along route # Maximum depth: 1252.222242 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1194.665929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756551; longitude = -122.129594; duration = 208; initialDepth = 1198.828681; finalDepth = 1194.665929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4329319999999 # Actual altitude: 55.4329319999999 # Commanded vehicle depth: 1194.665929 # Seafloor depth: -1250.098861 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 105.728528 meters # Minimum depth: 1248.828681 meters looking forward 200.000000 meters along route # Maximum depth: 1256.522561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1198.828681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756190; longitude = -122.130675; duration = 211; initialDepth = 1201.583159; finalDepth = 1198.828681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4329319999999 # Actual altitude: 55.4329319999999 # Commanded vehicle depth: 1198.828681 # Seafloor depth: -1252.255725 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 103.244960 meters # Minimum depth: 1251.583159 meters looking forward 200.000000 meters along route # Maximum depth: 1259.150134 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1201.583159 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755825; longitude = -122.131770; duration = 206; initialDepth = 1205.111333; finalDepth = 1201.583159; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0710119999999 # Actual altitude: 55.0710119999999 # Commanded vehicle depth: 1201.583159 # Seafloor depth: -1256.654171 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 104.487340 meters # Minimum depth: 1255.111333 meters looking forward 200.000000 meters along route # Maximum depth: 1268.677723 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1205.111333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755469; longitude = -122.132838; duration = 208; initialDepth = 1210.059209; finalDepth = 1205.111333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.0710119999999 # Actual altitude: 55.0710119999999 # Commanded vehicle depth: 1205.111333 # Seafloor depth: -1258.652795 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 106.192942 meters # Minimum depth: 1260.059209 meters looking forward 200.000000 meters along route # Maximum depth: 1268.678236 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1210.059209 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755109; longitude = -122.133919; duration = 212; initialDepth = 1214.710924; finalDepth = 1210.059209; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1116469999999 # Actual altitude: 58.1116469999999 # Commanded vehicle depth: 1210.059209 # Seafloor depth: -1268.170856 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.782930 meters # Minimum depth: 1264.710924 meters looking forward 200.000000 meters along route # Maximum depth: 1271.489274 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1214.710924 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754742; longitude = -122.135019; duration = 205; initialDepth = 1217.027827; finalDepth = 1214.710924; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.1116469999999 # Actual altitude: 58.1116469999999 # Commanded vehicle depth: 1214.710924 # Seafloor depth: -1268.474494 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.43; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 104.488532 meters # Minimum depth: 1267.027827 meters looking forward 200.000000 meters along route # Maximum depth: 1273.973915 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1217.027827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754388; longitude = -122.136082; duration = 208; initialDepth = 1221.368354; finalDepth = 1217.027827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.015085 # Actual altitude: 54.015085 # Commanded vehicle depth: 1217.027827 # Seafloor depth: -1271.042912 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 106.657366 meters # Minimum depth: 1271.368354 meters looking forward 200.000000 meters along route # Maximum depth: 1277.485098 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1221.368354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754027; longitude = -122.137164; duration = 213; initialDepth = 1221.368354; finalDepth = 1221.368354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.015085 # Actual altitude: 54.015085 # Commanded vehicle depth: 1221.368354 # Seafloor depth: -1273.770080 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 108.252151 meters # Minimum depth: 1271.368354 meters looking forward 200.000000 meters along route # Maximum depth: 1282.679355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1221.368354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753659; longitude = -122.138267; duration = 216; initialDepth = 1223.327766; finalDepth = 1221.368354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9944680000001 # Actual altitude: 53.9944680000001 # Commanded vehicle depth: 1221.368354 # Seafloor depth: -1275.362822 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 14 # Segment length 108.252578 meters # Minimum depth: 1273.327766 meters looking forward 200.000000 meters along route # Maximum depth: 1284.707535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1223.327766 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753286; longitude = -122.139388; duration = 216; initialDepth = 1218.773729; finalDepth = 1223.327766; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3797689999999 # Actual altitude: 61.3797689999999 # Commanded vehicle depth: 1223.327766 # Seafloor depth: -1284.707535 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.41; 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 14 # Segment length 108.253004 meters # Minimum depth: 1268.773729 meters looking forward 200.000000 meters along route # Maximum depth: 1281.286378 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1218.773729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752912; longitude = -122.140508; duration = 216; initialDepth = 1218.773729; finalDepth = 1218.773729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.3797689999999 # Actual altitude: 61.3797689999999 # Commanded vehicle depth: 1218.773729 # Seafloor depth: -1272.733977 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.41; 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 14 # Segment length 108.253431 meters # Minimum depth: 1268.773729 meters looking forward 200.000000 meters along route # Maximum depth: 1274.610652 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1218.773729 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752539; longitude = -122.141628; duration = 216; initialDepth = 1211.381603; finalDepth = 1218.773729; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.9602480000001 # Actual altitude: 53.9602480000001 # Commanded vehicle depth: 1218.773729 # Seafloor depth: -1272.569253 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.19; 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 14 # Segment length 104.679675 meters # Minimum depth: 1261.381603 meters looking forward 200.000000 meters along route # Maximum depth: 1271.677904 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1211.381603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752165; longitude = -122.142749; duration = 209; initialDepth = 1201.336603; finalDepth = 1211.381603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.6913910000001 # Actual altitude: 57.6913910000001 # Commanded vehicle depth: 1211.381603 # Seafloor depth: -1269.072994 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 77.335435 meters # Minimum depth: 1251.336603 meters looking forward 200.000000 meters along route # Maximum depth: 1270.729642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1201.336603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751804; longitude = -122.143832; duration = 154; # abortOnTimeout = True; initialDepth = 1169.585659; finalDepth = 1201.336603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.9890809999999 # Actual altitude: 58.9890809999999 # Commanded vehicle depth: 1201.336603 # Seafloor depth: -1260.325684 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 105.453924 meters # Minimum depth: 1219.585659 meters looking forward 200.000000 meters along route # Maximum depth: 1261.381603 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1169.585659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751143; longitude = -122.143557; duration = 210; initialDepth = 1169.585659; finalDepth = 1169.585659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4893279999999 # Actual altitude: 80.4893279999999 # Commanded vehicle depth: 1169.585659 # Seafloor depth: -1250.074987 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 105.454042 meters # Minimum depth: 1219.585659 meters looking forward 200.000000 meters along route # Maximum depth: 1249.668811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1169.585659 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750242; longitude = -122.143181; duration = 210; initialDepth = 1173.635452; finalDepth = 1169.585659; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.4893279999999 # Actual altitude: 80.4893279999999 # Commanded vehicle depth: 1169.585659 # Seafloor depth: -1220.157620 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 110.255820 meters # Minimum depth: 1223.635452 meters looking forward 200.000000 meters along route # Maximum depth: 1249.895420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1173.635452 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749341; longitude = -122.142805; duration = 220; initialDepth = 1180.678794; finalDepth = 1173.635452; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.4583130000001 # Actual altitude: 60.4583130000001 # Commanded vehicle depth: 1173.635452 # Seafloor depth: -1234.093765 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.14; 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 13 # Segment length 100.652614 meters # Minimum depth: 1230.678794 meters looking forward 200.000000 meters along route # Maximum depth: 1249.895420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1180.678794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748398; longitude = -122.142413; duration = 201; initialDepth = 1153.058146; finalDepth = 1180.678794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.934195 # Actual altitude: 68.934195 # Commanded vehicle depth: 1180.678794 # Seafloor depth: -1249.612989 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 108.948630 meters # Minimum depth: 1203.058146 meters looking forward 200.000000 meters along route # Maximum depth: 1248.924293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1153.058146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747538; longitude = -122.142054; duration = 217; initialDepth = 1153.058146; finalDepth = 1153.058146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 72.647352 # Actual altitude: 72.647352 # Commanded vehicle depth: 1153.058146 # Seafloor depth: -1225.705498 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.79; 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 113.317158 meters # Minimum depth: 1203.058146 meters looking forward 200.000000 meters along route # Maximum depth: 1246.440518 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1153.058146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746607; longitude = -122.141666; duration = 226; # abortOnTimeout = True; initialDepth = 1165.507309; finalDepth = 1153.058146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.647352 # Actual altitude: 72.647352 # Commanded vehicle depth: 1153.058146 # Seafloor depth: -1203.528595 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.79; 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 12 # Segment length 106.785409 meters # Minimum depth: 1215.507309 meters looking forward 200.000000 meters along route # Maximum depth: 1279.768485 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1165.507309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746997; longitude = -122.140493; duration = 213; initialDepth = 1196.666784; finalDepth = 1165.507309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 81.17183 # Actual altitude: 81.17183 # Commanded vehicle depth: 1165.507309 # Seafloor depth: -1246.679139 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.35; 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 12 # Segment length 102.510049 meters # Minimum depth: 1246.666784 meters looking forward 200.000000 meters along route # Maximum depth: 1304.937158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1196.666784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747365; longitude = -122.139388; duration = 205; initialDepth = 1233.431853; finalDepth = 1196.666784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.314433 # Actual altitude: 84.314433 # Commanded vehicle depth: 1196.666784 # Seafloor depth: -1280.981217 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.29; 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 12 # Segment length 104.647132 meters # Minimum depth: 1283.431853 meters looking forward 200.000000 meters along route # Maximum depth: 1311.952503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1233.431853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747718; longitude = -122.138327; duration = 209; initialDepth = 1256.022151; finalDepth = 1233.431853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.314433 # Actual altitude: 84.314433 # Commanded vehicle depth: 1233.431853 # Seafloor depth: -1304.187364 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.29; 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 12 # Segment length 106.715604 meters # Minimum depth: 1306.022151 meters looking forward 200.000000 meters along route # Maximum depth: 1312.086955 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1256.022151 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748079; longitude = -122.137243; duration = 213; initialDepth = 1256.316103; finalDepth = 1256.022151; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.7555109999998 # Actual altitude: 70.7555109999998 # Commanded vehicle depth: 1256.022151 # Seafloor depth: -1312.086955 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.577466 meters # Minimum depth: 1306.316103 meters looking forward 200.000000 meters along route # Maximum depth: 1311.984836 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1256.316103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748446; longitude = -122.136139; duration = 205; initialDepth = 1256.100355; finalDepth = 1256.316103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0648040000001 # Actual altitude: 56.0648040000001 # Commanded vehicle depth: 1256.316103 # Seafloor depth: -1309.137583 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 104.645938 meters # Minimum depth: 1306.100355 meters looking forward 200.000000 meters along route # Maximum depth: 1311.897161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1256.100355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748800; longitude = -122.135077; duration = 209; initialDepth = 1254.003192; finalDepth = 1256.100355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.163996 # Actual altitude: 54.163996 # Commanded vehicle depth: 1256.100355 # Seafloor depth: -1310.264351 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 106.645801 meters # Minimum depth: 1304.003192 meters looking forward 200.000000 meters along route # Maximum depth: 1311.897161 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1254.003192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749160; longitude = -122.133994; duration = 213; initialDepth = 1253.143312; finalDepth = 1254.003192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.163996 # Actual altitude: 54.163996 # Commanded vehicle depth: 1254.003192 # Seafloor depth: -1307.679723 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 102.644882 meters # Minimum depth: 1303.143312 meters looking forward 200.000000 meters along route # Maximum depth: 1307.656102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1253.143312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749528; longitude = -122.132890; duration = 205; initialDepth = 1252.612014; finalDepth = 1253.143312; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6765310000001 # Actual altitude: 53.6765310000001 # Commanded vehicle depth: 1253.143312 # Seafloor depth: -1303.781668 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.644744 meters # Minimum depth: 1302.612014 meters looking forward 200.000000 meters along route # Maximum depth: 1306.076968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1252.612014 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749881; longitude = -122.131827; duration = 209; initialDepth = 1248.363149; finalDepth = 1252.612014; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.0828759999999 # Actual altitude: 51.0828759999999 # Commanded vehicle depth: 1252.612014 # Seafloor depth: -1303.694890 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 106.575999 meters # Minimum depth: 1298.363149 meters looking forward 200.000000 meters along route # Maximum depth: 1306.076968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1248.363149 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750242; longitude = -122.130744; duration = 213; initialDepth = 1239.551323; finalDepth = 1248.363149; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.286155 # Actual altitude: 55.286155 # Commanded vehicle depth: 1248.363149 # Seafloor depth: -1303.649304 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.59; 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 12 # Segment length 102.712297 meters # Minimum depth: 1289.551323 meters looking forward 200.000000 meters along route # Maximum depth: 1302.942647 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1239.551323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750609; longitude = -122.129641; duration = 205; initialDepth = 1232.336990; finalDepth = 1239.551323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3868710000002 # Actual altitude: 58.3868710000002 # Commanded vehicle depth: 1239.551323 # Seafloor depth: -1297.938194 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.52; 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 12 # Segment length 104.643551 meters # Minimum depth: 1282.336990 meters looking forward 200.000000 meters along route # Maximum depth: 1296.150068 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1232.336990 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750963; longitude = -122.128578; duration = 209; initialDepth = 1221.099390; finalDepth = 1232.336990; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3868710000002 # Actual altitude: 58.3868710000002 # Commanded vehicle depth: 1232.33699 # Seafloor depth: -1289.205274 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.52; 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 12 # Segment length 106.506199 meters # Minimum depth: 1271.099390 meters looking forward 200.000000 meters along route # Maximum depth: 1290.039966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1221.099390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751323; longitude = -122.127495; duration = 213; initialDepth = 1207.984211; finalDepth = 1221.099390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.130122 # Actual altitude: 61.130122 # Commanded vehicle depth: 1221.09939 # Seafloor depth: -1282.229512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.779710 meters # Minimum depth: 1257.984211 meters looking forward 200.000000 meters along route # Maximum depth: 1279.519892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1207.984211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751690; longitude = -122.126392; duration = 205; initialDepth = 1202.812571; finalDepth = 1207.984211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4869430000001 # Actual altitude: 61.4869430000001 # Commanded vehicle depth: 1207.984211 # Seafloor depth: -1269.471154 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 104.642358 meters # Minimum depth: 1252.812571 meters looking forward 200.000000 meters along route # Maximum depth: 1267.000635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1202.812571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752044; longitude = -122.125328; duration = 209; initialDepth = 1201.499942; finalDepth = 1202.812571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.4869430000001 # Actual altitude: 61.4869430000001 # Commanded vehicle depth: 1202.812571 # Seafloor depth: -1260.518558 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.436400 meters # Minimum depth: 1251.499942 meters looking forward 200.000000 meters along route # Maximum depth: 1258.089004 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1201.499942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752405; longitude = -122.124245; duration = 212; initialDepth = 1201.499942; finalDepth = 1201.499942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.7059870000001 # Actual altitude: 57.7059870000001 # Commanded vehicle depth: 1201.499942 # Seafloor depth: -1253.651145 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.31; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.847122 meters # Minimum depth: 1251.499942 meters looking forward 200.000000 meters along route # Maximum depth: 1261.318418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1201.499942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752771; longitude = -122.123143; duration = 205; initialDepth = 1205.083545; finalDepth = 1201.499942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.4034830000001 # Actual altitude: 56.4034830000001 # Commanded vehicle depth: 1201.499942 # Seafloor depth: -1257.903425 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 104.641165 meters # Minimum depth: 1255.083545 meters looking forward 200.000000 meters along route # Maximum depth: 1262.521353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1205.083545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753126; longitude = -122.122079; duration = 209; initialDepth = 1205.083545; finalDepth = 1205.083545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4378080000001 # Actual altitude: 57.4378080000001 # Commanded vehicle depth: 1205.083545 # Seafloor depth: -1262.521353 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 106.366604 meters # Minimum depth: 1255.083545 meters looking forward 200.000000 meters along route # Maximum depth: 1260.886438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1205.083545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753486; longitude = -122.120995; duration = 212; initialDepth = 1205.260992; finalDepth = 1205.083545; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.4378080000001 # Actual altitude: 57.4378080000001 # Commanded vehicle depth: 1205.083545 # Seafloor depth: -1255.899674 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 102.914532 meters # Minimum depth: 1255.260992 meters looking forward 200.000000 meters along route # Maximum depth: 1259.568051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1205.260992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753853; longitude = -122.119894; duration = 205; initialDepth = 1199.827985; finalDepth = 1205.260992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.4350670000001 # Actual altitude: 51.4350670000001 # Commanded vehicle depth: 1205.260992 # Seafloor depth: -1256.696059 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.43; 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 12 # Segment length 104.639972 meters # Minimum depth: 1249.827985 meters looking forward 200.000000 meters along route # Maximum depth: 1258.336911 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1199.827985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754207; longitude = -122.118829; duration = 209; initialDepth = 1191.298131; finalDepth = 1199.827985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7986190000001 # Actual altitude: 55.7986190000001 # Commanded vehicle depth: 1199.827985 # Seafloor depth: -1255.626604 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.74; 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 12 # Segment length 106.296810 meters # Minimum depth: 1241.298131 meters looking forward 200.000000 meters along route # Maximum depth: 1257.163417 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1191.298131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754568; longitude = -122.117746; duration = 212; initialDepth = 1172.798370; finalDepth = 1191.298131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.608884 # Actual altitude: 58.608884 # Commanded vehicle depth: 1191.298131 # Seafloor depth: -1249.907015 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 102.981941 meters # Minimum depth: 1222.798370 meters looking forward 200.000000 meters along route # Maximum depth: 1249.998896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1172.798370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754934; longitude = -122.116645; duration = 205; initialDepth = 1145.707425; finalDepth = 1172.798370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.1035280000001 # Actual altitude: 68.1035280000001 # Commanded vehicle depth: 1172.79837 # Seafloor depth: -1240.901898 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.43; 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 12 # Segment length 104.638779 meters # Minimum depth: 1195.707425 meters looking forward 200.000000 meters along route # Maximum depth: 1241.507137 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1145.707425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755289; longitude = -122.115579; duration = 209; initialDepth = 1135.148917; finalDepth = 1145.707425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1134979999999 # Actual altitude: 76.1134979999999 # Commanded vehicle depth: 1145.707425 # Seafloor depth: -1221.820923 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.83; 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 12 # Segment length 106.227017 meters # Minimum depth: 1185.148917 meters looking forward 200.000000 meters along route # Maximum depth: 1215.190625 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1135.148917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755649; longitude = -122.114496; duration = 212; initialDepth = 1131.275270; finalDepth = 1135.148917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.1134979999999 # Actual altitude: 76.1134979999999 # Commanded vehicle depth: 1135.148917 # Seafloor depth: -1195.901159 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.83; 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 12 # Segment length 103.049349 meters # Minimum depth: 1181.275270 meters looking forward 200.000000 meters along route # Maximum depth: 1193.656530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1131.275270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756015; longitude = -122.113396; duration = 206; initialDepth = 1123.231538; finalDepth = 1131.275270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.752242 # Actual altitude: 60.752242 # Commanded vehicle depth: 1131.27527 # Seafloor depth: -1185.410915 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 104.637586 meters # Minimum depth: 1173.231538 meters looking forward 200.000000 meters along route # Maximum depth: 1187.352422 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1123.231538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756370; longitude = -122.112330; duration = 209; initialDepth = 1100.996909; finalDepth = 1123.231538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.5408440000001 # Actual altitude: 59.5408440000001 # Commanded vehicle depth: 1123.231538 # Seafloor depth: -1182.772382 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 12 # Segment length 106.157227 meters # Minimum depth: 1150.996909 meters looking forward 200.000000 meters along route # Maximum depth: 1183.776553 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1100.996909 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756731; longitude = -122.111246; duration = 212; initialDepth = 1073.566328; finalDepth = 1100.996909; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.0668820000001 # Actual altitude: 72.0668820000001 # Commanded vehicle depth: 1100.996909 # Seafloor depth: -1173.063791 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.62; 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 12 # Segment length 108.221295 meters # Minimum depth: 1123.566328 meters looking forward 200.000000 meters along route # Maximum depth: 1171.523839 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1073.566328 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757096; longitude = -122.110148; duration = 216; initialDepth = 1062.558225; finalDepth = 1073.566328; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.749067 # Actual altitude: 76.749067 # Commanded vehicle depth: 1073.566328 # Seafloor depth: -1150.315395 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.02; 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 12 # Segment length 108.220871 meters # Minimum depth: 1112.558225 meters looking forward 200.000000 meters along route # Maximum depth: 1143.829635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1062.558225 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757469; longitude = -122.109027; duration = 216; initialDepth = 1059.795138; finalDepth = 1062.558225; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.749067 # Actual altitude: 76.749067 # Commanded vehicle depth: 1062.558225 # Seafloor depth: -1122.809787 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.02; 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 12 # Segment length 108.220445 meters # Minimum depth: 1109.795138 meters looking forward 200.000000 meters along route # Maximum depth: 1118.880635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1059.795138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757842; longitude = -122.107907; duration = 216; initialDepth = 1059.795138; finalDepth = 1059.795138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.2515619999999 # Actual altitude: 60.2515619999999 # Commanded vehicle depth: 1059.795138 # Seafloor depth: -1115.211200 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 100.999103 meters # Minimum depth: 1109.795138 meters looking forward 200.000000 meters along route # Maximum depth: 1131.670880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1059.795138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758215; longitude = -122.106787; duration = 201; initialDepth = 1060.151472; finalDepth = 1059.795138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.416062 # Actual altitude: 55.416062 # Commanded vehicle depth: 1059.795138 # Seafloor depth: -1111.694142 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.62; 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 122.657135 meters # Minimum depth: 1110.151472 meters looking forward 200.000000 meters along route # Maximum depth: 1153.886644 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1060.151472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758563; longitude = -122.105741; duration = 245; # abortOnTimeout = True; initialDepth = 1076.230195; finalDepth = 1060.151472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9526539999999 # Actual altitude: 75.9526539999999 # Commanded vehicle depth: 1060.151472 # Seafloor depth: -1136.104126 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.257256 meters # Minimum depth: 1126.230195 meters looking forward 200.000000 meters along route # Maximum depth: 1184.815222 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1076.230195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757542; longitude = -122.105214; duration = 216; initialDepth = 1103.425375; finalDepth = 1076.230195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9526539999999 # Actual altitude: 75.9526539999999 # Commanded vehicle depth: 1076.230195 # Seafloor depth: -1150.066641 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 11 # Segment length 108.257437 meters # Minimum depth: 1153.425375 meters looking forward 200.000000 meters along route # Maximum depth: 1235.370078 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1103.425375 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756641; longitude = -122.104749; duration = 216; initialDepth = 1155.544275; finalDepth = 1103.425375; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1286259999999 # Actual altitude: 85.1286259999999 # Commanded vehicle depth: 1103.425375 # Seafloor depth: -1188.554001 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 11 # Segment length 108.257619 meters # Minimum depth: 1205.544275 meters looking forward 200.000000 meters along route # Maximum depth: 1272.658391 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1155.544275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755739; longitude = -122.104284; duration = 216; initialDepth = 1198.570304; finalDepth = 1155.544275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.1286259999999 # Actual altitude: 85.1286259999999 # Commanded vehicle depth: 1155.544275 # Seafloor depth: -1237.586504 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 11 # Segment length 108.257800 meters # Minimum depth: 1248.570304 meters looking forward 200.000000 meters along route # Maximum depth: 1288.931220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1198.570304 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754838; longitude = -122.103819; duration = 216; initialDepth = 1221.584101; finalDepth = 1198.570304; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.0422290000001 # Actual altitude: 82.0422290000001 # Commanded vehicle depth: 1198.570304 # Seafloor depth: -1267.088179 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.61; 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 11 # Segment length 108.257982 meters # Minimum depth: 1271.584101 meters looking forward 200.000000 meters along route # Maximum depth: 1313.824051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1221.584101 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753937; longitude = -122.103354; duration = 216; initialDepth = 1238.855667; finalDepth = 1221.584101; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.0292100000001 # Actual altitude: 72.0292100000001 # Commanded vehicle depth: 1221.584101 # Seafloor depth: -1293.613311 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.61; 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 11 # Segment length 100.982718 meters # Minimum depth: 1288.855667 meters looking forward 200.000000 meters along route # Maximum depth: 1328.687253 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1238.855667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753036; longitude = -122.102889; duration = 201; initialDepth = 1265.096925; finalDepth = 1238.855667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 73.4333139999999 # Actual altitude: 73.4333139999999 # Commanded vehicle depth: 1238.855667 # Seafloor depth: -1312.288981 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.03; 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; } # ####################################################### # # 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 121.737159 meters # Minimum depth: 1315.096925 meters looking forward 200.000000 meters along route # Maximum depth: 1341.597920 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1265.096925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752195; longitude = -122.102455; duration = 243; # abortOnTimeout = True; initialDepth = 1278.577633; finalDepth = 1265.096925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.4333139999999 # Actual altitude: 73.4333139999999 # Commanded vehicle depth: 1265.096925 # Seafloor depth: -1328.711639 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.03; 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 10 # Segment length 104.226438 meters # Minimum depth: 1328.577633 meters looking forward 200.000000 meters along route # Maximum depth: 1350.075584 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1278.577633 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751774; longitude = -122.103714; duration = 208; initialDepth = 1289.444876; finalDepth = 1278.577633; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.614714 # Actual altitude: 63.614714 # Commanded vehicle depth: 1278.577633 # Seafloor depth: -1341.729890 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.132829 meters # Minimum depth: 1339.444876 meters looking forward 200.000000 meters along route # Maximum depth: 1352.228295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1289.444876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751413; longitude = -122.104792; duration = 212; initialDepth = 1294.085224; finalDepth = 1289.444876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.152257 # Actual altitude: 63.152257 # Commanded vehicle depth: 1289.444876 # Seafloor depth: -1346.818660 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.95; 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 10 # Segment length 102.321233 meters # Minimum depth: 1344.085224 meters looking forward 200.000000 meters along route # Maximum depth: 1352.228295 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1294.085224 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751046; longitude = -122.105890; duration = 204; initialDepth = 1289.350938; finalDepth = 1294.085224; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3737839999999 # Actual altitude: 57.3737839999999 # Commanded vehicle depth: 1294.085224 # Seafloor depth: -1345.702773 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.21; 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 10 # Segment length 104.227624 meters # Minimum depth: 1339.350938 meters looking forward 200.000000 meters along route # Maximum depth: 1350.261788 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1289.350938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750692; longitude = -122.106949; duration = 208; initialDepth = 1284.984895; finalDepth = 1289.350938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.239255 # Actual altitude: 56.239255 # Commanded vehicle depth: 1289.350938 # Seafloor depth: -1345.590193 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.531993 meters # Minimum depth: 1334.984895 meters looking forward 200.000000 meters along route # Maximum depth: 1347.168400 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1284.984895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750332; longitude = -122.108027; duration = 215; initialDepth = 1282.250212; finalDepth = 1284.984895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4489859999999 # Actual altitude: 59.4489859999999 # Commanded vehicle depth: 1284.984895 # Seafloor depth: -1344.433881 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 100.924441 meters # Minimum depth: 1332.250212 meters looking forward 200.000000 meters along route # Maximum depth: 1342.463617 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1282.250212 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749960; longitude = -122.109139; duration = 201; initialDepth = 1276.016203; finalDepth = 1282.250212; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.4489859999999 # Actual altitude: 59.4489859999999 # Commanded vehicle depth: 1282.250212 # Seafloor depth: -1338.051036 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 104.854615 meters # Minimum depth: 1326.016203 meters looking forward 200.000000 meters along route # Maximum depth: 1336.883549 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1276.016203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749611; longitude = -122.110183; duration = 209; initialDepth = 1260.309489; finalDepth = 1276.016203; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3280430000002 # Actual altitude: 57.3280430000002 # Commanded vehicle depth: 1276.016203 # Seafloor depth: -1333.344246 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 103.603400 meters # Minimum depth: 1310.309489 meters looking forward 200.000000 meters along route # Maximum depth: 1335.241416 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1260.309489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749248; longitude = -122.111268; duration = 207; initialDepth = 1251.359193; finalDepth = 1260.309489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.667447 # Actual altitude: 65.667447 # Commanded vehicle depth: 1260.309489 # Seafloor depth: -1325.976936 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 104.229601 meters # Minimum depth: 1301.359193 meters looking forward 200.000000 meters along route # Maximum depth: 1323.794206 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1251.359193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748890; longitude = -122.112340; duration = 208; initialDepth = 1251.359193; finalDepth = 1251.359193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.667447 # Actual altitude: 65.667447 # Commanded vehicle depth: 1251.359193 # Seafloor depth: -1313.691975 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 106.253790 meters # Minimum depth: 1301.359193 meters looking forward 200.000000 meters along route # Maximum depth: 1308.314071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1251.359193 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748529; longitude = -122.113418; duration = 212; initialDepth = 1252.138679; finalDepth = 1251.359193; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.332782 # Actual altitude: 62.332782 # Commanded vehicle depth: 1251.359193 # Seafloor depth: -1304.726457 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.206597 meters # Minimum depth: 1302.138679 meters looking forward 200.000000 meters along route # Maximum depth: 1308.314071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1252.138679 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748162; longitude = -122.114517; duration = 204; initialDepth = 1254.505648; finalDepth = 1252.138679; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.367264 # Actual altitude: 53.367264 # Commanded vehicle depth: 1252.138679 # Seafloor depth: -1304.670657 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 104.230787 meters # Minimum depth: 1304.505648 meters looking forward 200.000000 meters along route # Maximum depth: 1325.053313 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1254.505648 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747808; longitude = -122.115574; duration = 208; initialDepth = 1260.531351; finalDepth = 1254.505648; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.615994 # Actual altitude: 53.615994 # Commanded vehicle depth: 1254.505648 # Seafloor depth: -1308.121642 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 107.652999 meters # Minimum depth: 1310.531351 meters looking forward 200.000000 meters along route # Maximum depth: 1343.544705 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1260.531351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747448; longitude = -122.116652; duration = 215; initialDepth = 1277.277478; finalDepth = 1260.531351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.6711029999999 # Actual altitude: 64.6711029999999 # Commanded vehicle depth: 1260.531351 # Seafloor depth: -1325.202454 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.40; 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 10 # Segment length 100.809760 meters # Minimum depth: 1327.277478 meters looking forward 200.000000 meters along route # Maximum depth: 1363.116609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1277.277478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747076; longitude = -122.117766; duration = 201; initialDepth = 1296.282348; finalDepth = 1277.277478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.875012 # Actual altitude: 66.875012 # Commanded vehicle depth: 1277.277478 # Seafloor depth: -1344.152490 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.975541 meters # Minimum depth: 1346.282348 meters looking forward 200.000000 meters along route # Maximum depth: 1370.326957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1296.282348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746727; longitude = -122.118808; duration = 209; initialDepth = 1308.665794; finalDepth = 1296.282348; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.875012 # Actual altitude: 66.875012 # Commanded vehicle depth: 1296.282348 # Seafloor depth: -1363.062604 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 103.488801 meters # Minimum depth: 1358.665794 meters looking forward 200.000000 meters along route # Maximum depth: 1370.326957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1308.665794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746364; longitude = -122.119894; duration = 206; initialDepth = 1297.252279; finalDepth = 1308.665794; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.780256 # Actual altitude: 66.780256 # Commanded vehicle depth: 1308.665794 # Seafloor depth: -1367.263306 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.03; 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 10 # Segment length 104.232764 meters # Minimum depth: 1347.252279 meters looking forward 200.000000 meters along route # Maximum depth: 1366.145543 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1297.252279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746006; longitude = -122.120965; duration = 208; initialDepth = 1297.252279; finalDepth = 1297.252279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2019929999999 # Actual altitude: 61.2019929999999 # Commanded vehicle depth: 1297.252279 # Seafloor depth: -1358.454272 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 106.374761 meters # Minimum depth: 1347.252279 meters looking forward 200.000000 meters along route # Maximum depth: 1358.703993 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1297.252279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745645; longitude = -122.122043; duration = 212; initialDepth = 1298.528834; finalDepth = 1297.252279; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.2019929999999 # Actual altitude: 61.2019929999999 # Commanded vehicle depth: 1297.252279 # Seafloor depth: -1348.538252 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 102.091954 meters # Minimum depth: 1348.528834 meters looking forward 200.000000 meters along route # Maximum depth: 1384.803018 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1298.528834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745278; longitude = -122.123143; duration = 204; initialDepth = 1309.456532; finalDepth = 1298.528834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.582071 # Actual altitude: 60.582071 # Commanded vehicle depth: 1298.528834 # Seafloor depth: -1359.110905 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.233950 meters # Minimum depth: 1359.456532 meters looking forward 200.000000 meters along route # Maximum depth: 1409.380221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1309.456532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744925; longitude = -122.124199; duration = 208; initialDepth = 1340.309071; finalDepth = 1309.456532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.592067 # Actual altitude: 76.592067 # Commanded vehicle depth: 1309.456532 # Seafloor depth: -1386.048599 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 107.774014 meters # Minimum depth: 1390.309071 meters looking forward 200.000000 meters along route # Maximum depth: 1445.115115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1340.309071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744564; longitude = -122.125277; duration = 215; initialDepth = 1362.136827; finalDepth = 1340.309071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.592067 # Actual altitude: 76.592067 # Commanded vehicle depth: 1340.309071 # Seafloor depth: -1409.505667 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.98; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 100.695075 meters # Minimum depth: 1412.136827 meters looking forward 200.000000 meters along route # Maximum depth: 1450.606815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1362.136827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744191; longitude = -122.126392; duration = 201; initialDepth = 1340.362925; finalDepth = 1362.136827; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.210274 # Actual altitude: 84.210274 # Commanded vehicle depth: 1362.136827 # Seafloor depth: -1446.347101 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.26; 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 10 # Segment length 105.096474 meters # Minimum depth: 1390.362925 meters looking forward 200.000000 meters along route # Maximum depth: 1450.606815 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1340.362925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743843; longitude = -122.127434; duration = 210; initialDepth = 1301.729234; finalDepth = 1340.362925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.228928 # Actual altitude: 100 # Commanded vehicle depth: 1340.362925 # Seafloor depth: -1443.591853 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 103.374196 meters # Minimum depth: 1351.729234 meters looking forward 200.000000 meters along route # Maximum depth: 1437.442697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1301.729234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743480; longitude = -122.128521; duration = 206; initialDepth = 1285.751932; finalDepth = 1301.729234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 103.228928 # Actual altitude: 100 # Commanded vehicle depth: 1301.729234 # Seafloor depth: -1389.756833 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 10 # Segment length 104.235929 meters # Minimum depth: 1335.751932 meters looking forward 200.000000 meters along route # Maximum depth: 1386.431832 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1285.751932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743122; longitude = -122.129590; duration = 208; initialDepth = 1269.187186; finalDepth = 1285.751932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.027599 # Actual altitude: 88.027599 # Commanded vehicle depth: 1285.751932 # Seafloor depth: -1350.243625 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.41; 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 10 # Segment length 106.495739 meters # Minimum depth: 1319.187186 meters looking forward 200.000000 meters along route # Maximum depth: 1347.139957 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1269.187186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742762; longitude = -122.130668; duration = 212; initialDepth = 1256.091562; finalDepth = 1269.187186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0731759999999 # Actual altitude: 66.0731759999999 # Commanded vehicle depth: 1269.187186 # Seafloor depth: -1335.260362 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 101.977306 meters # Minimum depth: 1306.091562 meters looking forward 200.000000 meters along route # Maximum depth: 1332.183589 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1256.091562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742393; longitude = -122.131770; duration = 203; initialDepth = 1240.675104; finalDepth = 1256.091562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0731759999999 # Actual altitude: 66.0731759999999 # Commanded vehicle depth: 1256.091562 # Seafloor depth: -1318.792133 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 10 # Segment length 104.237116 meters # Minimum depth: 1290.675104 meters looking forward 200.000000 meters along route # Maximum depth: 1318.838061 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1240.675104 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742041; longitude = -122.132824; duration = 208; initialDepth = 1230.833760; finalDepth = 1240.675104; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0359370000001 # Actual altitude: 65.0359370000001 # Commanded vehicle depth: 1240.675104 # Seafloor depth: -1305.711041 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.51; 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 10 # Segment length 107.895036 meters # Minimum depth: 1280.833760 meters looking forward 200.000000 meters along route # Maximum depth: 1301.924629 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1230.833760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741680; longitude = -122.133903; duration = 215; initialDepth = 1226.460000; finalDepth = 1230.833760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.0359370000001 # Actual altitude: 65.0359370000001 # Commanded vehicle depth: 1230.83376 # Seafloor depth: -1290.649881 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.51; 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 10 # Segment length 108.314439 meters # Minimum depth: 1276.460000 meters looking forward 200.000000 meters along route # Maximum depth: 1290.932728 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1226.460000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741307; longitude = -122.135019; duration = 216; initialDepth = 1212.207316; finalDepth = 1226.460000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.168281 # Actual altitude: 62.168281 # Commanded vehicle depth: 1226.46 # Seafloor depth: -1288.628281 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.65; 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 10 # Segment length 108.314867 meters # Minimum depth: 1262.207316 meters looking forward 200.000000 meters along route # Maximum depth: 1290.599266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1212.207316 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740932; longitude = -122.136139; duration = 216; initialDepth = 1207.637651; finalDepth = 1212.207316; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.168281 # Actual altitude: 62.168281 # Commanded vehicle depth: 1212.207316 # Seafloor depth: -1272.978760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.65; 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 10 # Segment length 101.117674 meters # Minimum depth: 1257.637651 meters looking forward 200.000000 meters along route # Maximum depth: 1280.541722 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1207.637651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740558; longitude = -122.137259; duration = 202; initialDepth = 1207.637651; finalDepth = 1207.637651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.771444 # Actual altitude: 60.771444 # Commanded vehicle depth: 1207.637651 # Seafloor depth: -1264.909313 # 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 = 20; 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; } # ####################################################### # # 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 85.166243 meters # Minimum depth: 1257.637651 meters looking forward 200.000000 meters along route # Maximum depth: 1269.054495 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1207.637651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740208; longitude = -122.138305; duration = 170; # abortOnTimeout = True; initialDepth = 1207.637651; finalDepth = 1207.637651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.2716620000001 # Actual altitude: 57.2716620000001 # Commanded vehicle depth: 1207.637651 # Seafloor depth: -1258.440735 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 9 # Segment length 102.133414 meters # Minimum depth: 1257.637651 meters looking forward 200.000000 meters along route # Maximum depth: 1272.466251 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1207.637651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739502; longitude = -122.137931; duration = 204; initialDepth = 1216.406638; finalDepth = 1207.637651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0775510000001 # Actual altitude: 56.0775510000001 # Commanded vehicle depth: 1207.637651 # Seafloor depth: -1263.715202 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 9 # Segment length 102.475694 meters # Minimum depth: 1266.406638 meters looking forward 200.000000 meters along route # Maximum depth: 1277.760580 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1216.406638 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738655; longitude = -122.137483; duration = 204; initialDepth = 1219.226916; finalDepth = 1216.406638; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.0775510000001 # Actual altitude: 56.0775510000001 # Commanded vehicle depth: 1216.406638 # Seafloor depth: -1269.301490 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 9 # Segment length 101.791636 meters # Minimum depth: 1269.226916 meters looking forward 200.000000 meters along route # Maximum depth: 1278.278849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1219.226916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737805; longitude = -122.137034; duration = 203; initialDepth = 1221.682080; finalDepth = 1219.226916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.8948520000001 # Actual altitude: 52.8948520000001 # Commanded vehicle depth: 1219.226916 # Seafloor depth: -1269.226916 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 9 # Segment length 102.133917 meters # Minimum depth: 1271.682080 meters looking forward 200.000000 meters along route # Maximum depth: 1282.169537 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1221.682080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736960; longitude = -122.136587; duration = 204; initialDepth = 1226.343977; finalDepth = 1221.682080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2283239999999 # Actual altitude: 56.2283239999999 # Commanded vehicle depth: 1221.68208 # Seafloor depth: -1277.910404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 102.134085 meters # Minimum depth: 1276.343977 meters looking forward 200.000000 meters along route # Maximum depth: 1290.384268 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1226.343977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736113; longitude = -122.136139; duration = 204; initialDepth = 1232.088865; finalDepth = 1226.343977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.2283239999999 # Actual altitude: 56.2283239999999 # Commanded vehicle depth: 1226.343977 # Seafloor depth: -1281.002866 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 106.874365 meters # Minimum depth: 1282.088865 meters looking forward 200.000000 meters along route # Maximum depth: 1299.099762 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1232.088865 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735266; longitude = -122.135691; duration = 213; initialDepth = 1240.498373; finalDepth = 1232.088865; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.3105520000001 # Actual altitude: 58.3105520000001 # Commanded vehicle depth: 1232.088865 # Seafloor depth: -1290.399417 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 108.667299 meters # Minimum depth: 1290.498373 meters looking forward 200.000000 meters along route # Maximum depth: 1309.692463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1240.498373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734380; longitude = -122.135222; duration = 217; initialDepth = 1254.086255; finalDepth = 1240.498373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6285680000001 # Actual altitude: 59.6285680000001 # Commanded vehicle depth: 1240.498373 # Seafloor depth: -1300.126941 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 9 # Segment length 108.667488 meters # Minimum depth: 1304.086255 meters looking forward 200.000000 meters along route # Maximum depth: 1316.878472 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1254.086255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733479; longitude = -122.134745; duration = 217; initialDepth = 1261.669027; finalDepth = 1254.086255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.6285680000001 # Actual altitude: 59.6285680000001 # Commanded vehicle depth: 1254.086255 # Seafloor depth: -1310.395353 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 9 # Segment length 101.464806 meters # Minimum depth: 1311.669027 meters looking forward 200.000000 meters along route # Maximum depth: 1334.494452 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1261.669027 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732578; longitude = -122.134268; duration = 202; initialDepth = 1279.692150; finalDepth = 1261.669027; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.3776310000001 # Actual altitude: 57.3776310000001 # Commanded vehicle depth: 1261.669027 # Seafloor depth: -1319.046658 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.21; 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 8 # Segment length 164.772107 meters # Minimum depth: 1329.692150 meters looking forward 200.000000 meters along route # Maximum depth: 1353.642320 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1279.692150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.731736; longitude = -122.133823; duration = 329; # abortOnTimeout = True; initialDepth = 1289.627173; finalDepth = 1279.692150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.3776310000001 # Actual altitude: 57.3776310000001 # Commanded vehicle depth: 1279.69215 # Seafloor depth: -1335.558075 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.21; 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 8 # Segment length 107.490706 meters # Minimum depth: 1339.627173 meters looking forward 200.000000 meters along route # Maximum depth: 1372.518484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1289.627173 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732279; longitude = -122.132106; duration = 214; initialDepth = 1309.097036; finalDepth = 1289.627173; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.8514 # Actual altitude: 64.8514 # Commanded vehicle depth: 1289.627173 # Seafloor depth: -1354.478573 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.490300 meters # Minimum depth: 1359.097036 meters looking forward 200.000000 meters along route # Maximum depth: 1390.367870 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1309.097036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732634; longitude = -122.130985; duration = 214; initialDepth = 1331.054189; finalDepth = 1309.097036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.554709 # Actual altitude: 66.554709 # Commanded vehicle depth: 1309.097036 # Seafloor depth: -1375.651745 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.97; 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 8 # Segment length 107.489893 meters # Minimum depth: 1381.054189 meters looking forward 200.000000 meters along route # Maximum depth: 1393.047217 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1331.054189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.732989; longitude = -122.129865; duration = 214; initialDepth = 1338.963171; finalDepth = 1331.054189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.554709 # Actual altitude: 66.554709 # Commanded vehicle depth: 1331.054189 # Seafloor depth: -1390.441233 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.97; 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 8 # Segment length 107.489486 meters # Minimum depth: 1388.963171 meters looking forward 200.000000 meters along route # Maximum depth: 1400.766094 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1338.963171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733343; longitude = -122.128745; duration = 214; initialDepth = 1344.005581; finalDepth = 1338.963171; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.3870440000001 # Actual altitude: 59.3870440000001 # Commanded vehicle depth: 1338.963171 # Seafloor depth: -1393.717119 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.489079 meters # Minimum depth: 1394.005581 meters looking forward 200.000000 meters along route # Maximum depth: 1408.867679 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1344.005581 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.733698; longitude = -122.127624; duration = 214; initialDepth = 1349.821097; finalDepth = 1344.005581; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.4569740000002 # Actual altitude: 55.4569740000002 # Commanded vehicle depth: 1344.005581 # Seafloor depth: -1399.462555 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.488673 meters # Minimum depth: 1399.821097 meters looking forward 200.000000 meters along route # Maximum depth: 1419.871758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1349.821097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734052; longitude = -122.126504; duration = 214; initialDepth = 1363.094578; finalDepth = 1349.821097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0402340000001 # Actual altitude: 61.0402340000001 # Commanded vehicle depth: 1349.821097 # Seafloor depth: -1410.861331 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.31; 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 8 # Segment length 107.488267 meters # Minimum depth: 1413.094578 meters looking forward 200.000000 meters along route # Maximum depth: 1425.895304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1363.094578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734407; longitude = -122.125384; duration = 214; initialDepth = 1369.813751; finalDepth = 1363.094578; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.0402340000001 # Actual altitude: 61.0402340000001 # Commanded vehicle depth: 1363.094578 # Seafloor depth: -1420.241847 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.31; 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 8 # Segment length 103.019745 meters # Minimum depth: 1419.813751 meters looking forward 200.000000 meters along route # Maximum depth: 1426.765666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1369.813751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.734761; longitude = -122.124263; duration = 206; initialDepth = 1369.018172; finalDepth = 1369.813751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.1472690000001 # Actual altitude: 57.1472690000001 # Commanded vehicle depth: 1369.813751 # Seafloor depth: -1424.260618 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 101.206841 meters # Minimum depth: 1419.018172 meters looking forward 200.000000 meters along route # Maximum depth: 1426.765666 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1369.018172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735101; longitude = -122.123190; duration = 202; initialDepth = 1369.018172; finalDepth = 1369.018172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4468670000001 # Actual altitude: 54.4468670000001 # Commanded vehicle depth: 1369.018172 # Seafloor depth: -1421.462341 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.33; 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 8 # Segment length 107.487087 meters # Minimum depth: 1419.018172 meters looking forward 200.000000 meters along route # Maximum depth: 1428.834412 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1369.018172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735435; longitude = -122.122135; duration = 214; initialDepth = 1371.571399; finalDepth = 1369.018172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.4441689999999 # Actual altitude: 52.4441689999999 # Commanded vehicle depth: 1369.018172 # Seafloor depth: -1420.945577 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.486681 meters # Minimum depth: 1421.571399 meters looking forward 200.000000 meters along route # Maximum depth: 1433.270619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1371.571399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.735789; longitude = -122.121015; duration = 214; initialDepth = 1375.206503; finalDepth = 1371.571399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.8057510000001 # Actual altitude: 56.8057510000001 # Commanded vehicle depth: 1371.571399 # Seafloor depth: -1428.377150 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.486275 meters # Minimum depth: 1425.206503 meters looking forward 200.000000 meters along route # Maximum depth: 1437.331334 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1375.206503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736144; longitude = -122.119894; duration = 214; initialDepth = 1383.687889; finalDepth = 1375.206503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5335169999998 # Actual altitude: 57.5335169999998 # Commanded vehicle depth: 1375.206503 # Seafloor depth: -1432.740020 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.485867 meters # Minimum depth: 1433.687889 meters looking forward 200.000000 meters along route # Maximum depth: 1442.392551 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1383.687889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736498; longitude = -122.118774; duration = 214; initialDepth = 1386.865062; finalDepth = 1383.687889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5335169999998 # Actual altitude: 57.5335169999998 # Commanded vehicle depth: 1383.687889 # Seafloor depth: -1434.115189 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.485462 meters # Minimum depth: 1436.865062 meters looking forward 200.000000 meters along route # Maximum depth: 1442.419464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1386.865062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.736853; longitude = -122.117654; duration = 214; initialDepth = 1387.006957; finalDepth = 1386.865062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6051849999999 # Actual altitude: 53.6051849999999 # Commanded vehicle depth: 1386.865062 # Seafloor depth: -1440.470247 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.485055 meters # Minimum depth: 1437.006957 meters looking forward 200.000000 meters along route # Maximum depth: 1442.419464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1387.006957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737207; longitude = -122.116533; duration = 214; initialDepth = 1385.768742; finalDepth = 1387.006957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6051849999999 # Actual altitude: 53.6051849999999 # Commanded vehicle depth: 1387.006957 # Seafloor depth: -1439.966534 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.484649 meters # Minimum depth: 1435.768742 meters looking forward 200.000000 meters along route # Maximum depth: 1440.023738 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1385.768742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737562; longitude = -122.115413; duration = 214; initialDepth = 1385.768742; finalDepth = 1385.768742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1076190000001 # Actual altitude: 54.1076190000001 # Commanded vehicle depth: 1385.768742 # Seafloor depth: -1439.876361 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 102.715270 meters # Minimum depth: 1435.768742 meters looking forward 200.000000 meters along route # Maximum depth: 1443.466193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1385.768742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.737917; longitude = -122.114293; duration = 205; initialDepth = 1385.751276; finalDepth = 1385.768742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1076190000001 # Actual altitude: 54.1076190000001 # Commanded vehicle depth: 1385.768742 # Seafloor depth: -1438.193325 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 101.504443 meters # Minimum depth: 1435.751276 meters looking forward 200.000000 meters along route # Maximum depth: 1443.466193 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1385.751276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738255; longitude = -122.113222; duration = 203; initialDepth = 1385.751276; finalDepth = 1385.751276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.691313 # Actual altitude: 54.691313 # Commanded vehicle depth: 1385.751276 # Seafloor depth: -1440.442589 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.483470 meters # Minimum depth: 1435.751276 meters looking forward 200.000000 meters along route # Maximum depth: 1444.568016 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1385.751276 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738590; longitude = -122.112164; duration = 214; initialDepth = 1390.955466; finalDepth = 1385.751276; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.980401 # Actual altitude: 55.980401 # Commanded vehicle depth: 1385.751276 # Seafloor depth: -1441.731677 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.483064 meters # Minimum depth: 1440.955466 meters looking forward 200.000000 meters along route # Maximum depth: 1448.269005 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1390.955466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.738945; longitude = -122.111044; duration = 214; initialDepth = 1394.544538; finalDepth = 1390.955466; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.980401 # Actual altitude: 55.980401 # Commanded vehicle depth: 1390.955466 # Seafloor depth: -1445.032600 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.482658 meters # Minimum depth: 1444.544538 meters looking forward 200.000000 meters along route # Maximum depth: 1452.832297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1394.544538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739299; longitude = -122.109923; duration = 214; initialDepth = 1394.815206; finalDepth = 1394.544538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.0771340000001 # Actual altitude: 54.0771340000001 # Commanded vehicle depth: 1394.544538 # Seafloor depth: -1446.494207 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 107.482252 meters # Minimum depth: 1444.815206 meters looking forward 200.000000 meters along route # Maximum depth: 1452.832297 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1394.815206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.739654; longitude = -122.108803; duration = 214; initialDepth = 1387.539995; finalDepth = 1394.815206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.457989 # Actual altitude: 54.457989 # Commanded vehicle depth: 1394.815206 # Seafloor depth: -1449.273195 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 107.481845 meters # Minimum depth: 1437.539995 meters looking forward 200.000000 meters along route # Maximum depth: 1448.890566 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1387.539995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740008; longitude = -122.107683; duration = 214; initialDepth = 1384.449145; finalDepth = 1387.539995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.490491 # Actual altitude: 58.490491 # Commanded vehicle depth: 1387.539995 # Seafloor depth: -1446.030486 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.55; 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 8 # Segment length 107.481439 meters # Minimum depth: 1434.449145 meters looking forward 200.000000 meters along route # Maximum depth: 1446.045153 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1384.449145 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740363; longitude = -122.106562; duration = 214; initialDepth = 1380.108076; finalDepth = 1384.449145; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.490491 # Actual altitude: 58.490491 # Commanded vehicle depth: 1384.449145 # Seafloor depth: -1441.515293 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.55; 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 8 # Segment length 107.481033 meters # Minimum depth: 1430.108076 meters looking forward 200.000000 meters along route # Maximum depth: 1438.393267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1380.108076 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.740717; longitude = -122.105442; duration = 214; initialDepth = 1378.740394; finalDepth = 1380.108076; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.0661479999999 # Actual altitude: 57.0661479999999 # Commanded vehicle depth: 1380.108076 # Seafloor depth: -1433.180074 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 8 # Segment length 102.410817 meters # Minimum depth: 1428.740394 meters looking forward 200.000000 meters along route # Maximum depth: 1435.072476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1378.740394 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741072; longitude = -122.104322; duration = 204; initialDepth = 1373.298485; finalDepth = 1378.740394; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.1966620000001 # Actual altitude: 53.1966620000001 # Commanded vehicle depth: 1378.740394 # Seafloor depth: -1431.937056 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 8 # Segment length 101.802026 meters # Minimum depth: 1423.298485 meters looking forward 200.000000 meters along route # Maximum depth: 1432.628276 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1373.298485 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741410; longitude = -122.103254; duration = 203; initialDepth = 1334.923831; finalDepth = 1373.298485; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.8866419999999 # Actual altitude: 58.8866419999999 # Commanded vehicle depth: 1373.298485 # Seafloor depth: -1432.185127 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.67; 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 8 # Segment length 107.479855 meters # Minimum depth: 1384.923831 meters looking forward 200.000000 meters along route # Maximum depth: 1431.586598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1334.923831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.741745; longitude = -122.102193; duration = 214; initialDepth = 1310.564479; finalDepth = 1334.923831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.4538049999999 # Actual altitude: 90.4538049999999 # Commanded vehicle depth: 1334.923831 # Seafloor depth: -1425.377636 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.14; 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 8 # Segment length 100.345696 meters # Minimum depth: 1360.564479 meters looking forward 200.000000 meters along route # Maximum depth: 1414.231126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1310.564479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742100; longitude = -122.101073; duration = 200; initialDepth = 1309.439815; finalDepth = 1310.564479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 90.4538049999999 # Actual altitude: 90.4538049999999 # Commanded vehicle depth: 1310.564479 # Seafloor depth: -1382.505119 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.14; 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 83.731973 meters # Minimum depth: 1359.439815 meters looking forward 200.000000 meters along route # Maximum depth: 1384.923831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1309.439815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742431; longitude = -122.100027; duration = 167; # abortOnTimeout = True; initialDepth = 1288.112636; finalDepth = 1309.439815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.94064 # Actual altitude: 71.94064 # Commanded vehicle depth: 1309.439815 # Seafloor depth: -1361.826233 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 7 # Segment length 103.486826 meters # Minimum depth: 1338.112636 meters looking forward 200.000000 meters along route # Maximum depth: 1364.835793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1288.112636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.742987; longitude = -122.099392; duration = 206; initialDepth = 1261.023188; finalDepth = 1288.112636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.0895209999999 # Actual altitude: 72.0895209999999 # Commanded vehicle depth: 1288.112636 # Seafloor depth: -1360.202157 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.63; 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 7 # Segment length 106.970126 meters # Minimum depth: 1311.023188 meters looking forward 200.000000 meters along route # Maximum depth: 1357.916200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1261.023188 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.743674; longitude = -122.098608; duration = 213; initialDepth = 1243.203879; finalDepth = 1261.023188; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2173850000001 # Actual altitude: 77.2173850000001 # Commanded vehicle depth: 1261.023188 # Seafloor depth: -1338.240573 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.17; 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 7 # Segment length 100.002321 meters # Minimum depth: 1293.203879 meters looking forward 200.000000 meters along route # Maximum depth: 1337.365022 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1243.203879 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.744384; longitude = -122.097798; duration = 200; initialDepth = 1224.458359; finalDepth = 1243.203879; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.2173850000001 # Actual altitude: 77.2173850000001 # Commanded vehicle depth: 1243.203879 # Seafloor depth: -1310.116960 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.17; 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 7 # Segment length 103.657578 meters # Minimum depth: 1274.458359 meters looking forward 200.000000 meters along route # Maximum depth: 1309.942002 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1224.458359 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745048; longitude = -122.097040; duration = 207; initialDepth = 1209.144631; finalDepth = 1224.458359; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.180728 # Actual altitude: 69.180728 # Commanded vehicle depth: 1224.458359 # Seafloor depth: -1293.639087 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.75; 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 7 # Segment length 103.313264 meters # Minimum depth: 1259.144631 meters looking forward 200.000000 meters along route # Maximum depth: 1292.848760 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1209.144631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.745736; longitude = -122.096254; duration = 206; initialDepth = 1198.103742; finalDepth = 1209.144631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.180728 # Actual altitude: 69.180728 # Commanded vehicle depth: 1209.144631 # Seafloor depth: -1274.441781 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.75; 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 7 # Segment length 103.484819 meters # Minimum depth: 1248.103742 meters looking forward 200.000000 meters along route # Maximum depth: 1270.670576 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1198.103742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.746421; longitude = -122.095471; duration = 206; initialDepth = 1186.637319; finalDepth = 1198.103742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.2971500000001 # Actual altitude: 65.2971500000001 # Commanded vehicle depth: 1198.103742 # Seafloor depth: -1255.927049 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.59; 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 7 # Segment length 105.477409 meters # Minimum depth: 1236.637319 meters looking forward 200.000000 meters along route # Maximum depth: 1255.505263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1186.637319 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747108; longitude = -122.094687; duration = 210; initialDepth = 1173.371174; finalDepth = 1186.637319; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.6838340000002 # Actual altitude: 61.6838340000002 # Commanded vehicle depth: 1186.637319 # Seafloor depth: -1248.321153 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 101.491025 meters # Minimum depth: 1223.371174 meters looking forward 200.000000 meters along route # Maximum depth: 1247.171192 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1173.371174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.747808; longitude = -122.093888; duration = 202; initialDepth = 1167.699612; finalDepth = 1173.371174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7326009999999 # Actual altitude: 62.7326009999999 # Commanded vehicle depth: 1173.371174 # Seafloor depth: -1236.103775 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 7 # Segment length 103.483614 meters # Minimum depth: 1217.699612 meters looking forward 200.000000 meters along route # Maximum depth: 1235.477521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1167.699612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.748482; longitude = -122.093119; duration = 206; initialDepth = 1167.699612; finalDepth = 1167.699612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.7326009999999 # Actual altitude: 62.7326009999999 # Commanded vehicle depth: 1167.699612 # Seafloor depth: -1222.486956 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 7 # Segment length 103.483214 meters # Minimum depth: 1217.699612 meters looking forward 200.000000 meters along route # Maximum depth: 1226.298402 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1167.699612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749169; longitude = -122.092334; duration = 206; initialDepth = 1155.273932; finalDepth = 1167.699612; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.7873440000001 # Actual altitude: 54.7873440000001 # Commanded vehicle depth: 1167.699612 # Seafloor depth: -1217.999448 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.44; 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 7 # Segment length 103.482811 meters # Minimum depth: 1205.273932 meters looking forward 200.000000 meters along route # Maximum depth: 1220.975283 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1155.273932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.749856; longitude = -122.091550; duration = 206; initialDepth = 1151.443036; finalDepth = 1155.273932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.474784 # Actual altitude: 58.474784 # Commanded vehicle depth: 1155.273932 # Seafloor depth: -1213.748716 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 7 # Segment length 108.475277 meters # Minimum depth: 1201.443036 meters looking forward 200.000000 meters along route # Maximum depth: 1214.545434 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1151.443036 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.750543; longitude = -122.090766; duration = 216; initialDepth = 1150.604376; finalDepth = 1151.443036; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.474784 # Actual altitude: 58.474784 # Commanded vehicle depth: 1151.443036 # Seafloor depth: -1208.598161 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 to get to end of line 6 # Segment length 163.942659 meters # Minimum depth: 1200.604376 meters looking forward 200.000000 meters along route # Maximum depth: 1213.496071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1150.604376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751263; longitude = -122.089944; duration = 327; # abortOnTimeout = True; initialDepth = 1143.032760; finalDepth = 1150.604376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.155125 # Actual altitude: 57.155125 # Commanded vehicle depth: 1150.604376 # Seafloor depth: -1205.964874 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.15; 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 6 # Segment length 100.630881 meters # Minimum depth: 1193.032760 meters looking forward 200.000000 meters along route # Maximum depth: 1213.496071 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1143.032760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.751924; longitude = -122.088301; duration = 201; initialDepth = 1122.613491; finalDepth = 1143.032760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.47299 # Actual altitude: 65.47299 # Commanded vehicle depth: 1143.03276 # Seafloor depth: -1208.505750 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.64; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.630475 meters # Minimum depth: 1172.613491 meters looking forward 200.000000 meters along route # Maximum depth: 1210.051984 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1122.613491 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752329; longitude = -122.087293; duration = 201; initialDepth = 1097.712724; finalDepth = 1122.613491; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.7019459999999 # Actual altitude: 69.7019459999999 # Commanded vehicle depth: 1122.613491 # Seafloor depth: -1192.315437 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.91; 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 6 # Segment length 100.630072 meters # Minimum depth: 1147.712724 meters looking forward 200.000000 meters along route # Maximum depth: 1191.053231 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1097.712724 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.752735; longitude = -122.086285; duration = 201; initialDepth = 1087.017752; finalDepth = 1097.712724; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.76918 # Actual altitude: 69.76918 # Commanded vehicle depth: 1097.712724 # Seafloor depth: -1167.481904 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.629667 meters # Minimum depth: 1137.017752 meters looking forward 200.000000 meters along route # Maximum depth: 1167.693230 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1087.017752 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753141; longitude = -122.085277; duration = 201; initialDepth = 1085.265746; finalDepth = 1087.017752; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.76918 # Actual altitude: 69.76918 # Commanded vehicle depth: 1087.017752 # Seafloor depth: -1148.647982 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.629263 meters # Minimum depth: 1135.265746 meters looking forward 200.000000 meters along route # Maximum depth: 1146.399521 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1085.265746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753546; longitude = -122.084268; duration = 201; initialDepth = 1085.265746; finalDepth = 1085.265746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.63023 # Actual altitude: 61.63023 # Commanded vehicle depth: 1085.265746 # Seafloor depth: -1141.024170 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 6 # Segment length 100.628858 meters # Minimum depth: 1135.265746 meters looking forward 200.000000 meters along route # Maximum depth: 1141.391112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1085.265746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.753952; longitude = -122.083260; duration = 201; initialDepth = 1081.879903; finalDepth = 1085.265746; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.7584239999999 # Actual altitude: 55.7584239999999 # Commanded vehicle depth: 1085.265746 # Seafloor depth: -1140.105810 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 6 # Segment length 100.628455 meters # Minimum depth: 1131.879903 meters looking forward 200.000000 meters along route # Maximum depth: 1141.391112 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1081.879903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754357; longitude = -122.082252; duration = 201; initialDepth = 1074.065870; finalDepth = 1081.879903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5095140000001 # Actual altitude: 57.5095140000001 # Commanded vehicle depth: 1081.879903 # Seafloor depth: -1139.389417 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.25; 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 6 # Segment length 100.628050 meters # Minimum depth: 1124.065870 meters looking forward 200.000000 meters along route # Maximum depth: 1139.456316 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1074.065870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.754763; longitude = -122.081243; duration = 201; initialDepth = 1051.507310; finalDepth = 1074.065870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.5095140000001 # Actual altitude: 57.5095140000001 # Commanded vehicle depth: 1074.06587 # Seafloor depth: -1130.738597 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.25; 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 6 # Segment length 100.627646 meters # Minimum depth: 1101.507310 meters looking forward 200.000000 meters along route # Maximum depth: 1133.901794 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1051.507310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755169; longitude = -122.080235; duration = 201; initialDepth = 1032.289747; finalDepth = 1051.507310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7569210000001 # Actual altitude: 75.7569210000001 # Commanded vehicle depth: 1051.50731 # Seafloor depth: -1127.264231 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.627242 meters # Minimum depth: 1082.289747 meters looking forward 200.000000 meters along route # Maximum depth: 1120.755503 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1032.289747 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755574; longitude = -122.079227; duration = 201; initialDepth = 1023.934656; finalDepth = 1032.289747; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.7569210000001 # Actual altitude: 75.7569210000001 # Commanded vehicle depth: 1032.289747 # Seafloor depth: -1101.856260 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 6 # Segment length 100.626837 meters # Minimum depth: 1073.934656 meters looking forward 200.000000 meters along route # Maximum depth: 1101.928724 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1023.934656 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.755980; longitude = -122.078219; duration = 201; initialDepth = 1020.552512; finalDepth = 1023.934656; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.566513 # Actual altitude: 69.566513 # Commanded vehicle depth: 1023.934656 # Seafloor depth: -1084.654222 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.87; 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 6 # Segment length 100.626434 meters # Minimum depth: 1070.552512 meters looking forward 200.000000 meters along route # Maximum depth: 1082.697927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1020.552512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756385; longitude = -122.077210; duration = 201; initialDepth = 1000.100696; finalDepth = 1020.552512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.719566 # Actual altitude: 60.719566 # Commanded vehicle depth: 1020.552512 # Seafloor depth: -1073.481880 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 6 # Segment length 100.626029 meters # Minimum depth: 1050.100696 meters looking forward 200.000000 meters along route # Maximum depth: 1077.527123 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 1000.100696 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.756791; longitude = -122.076202; duration = 201; initialDepth = 976.898999; finalDepth = 1000.100696; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4264270000001 # Actual altitude: 77.4264270000001 # Commanded vehicle depth: 1000.100696 # Seafloor depth: -1077.527123 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 6 # Segment length 100.625625 meters # Minimum depth: 1026.898999 meters looking forward 200.000000 meters along route # Maximum depth: 1074.113216 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 976.898999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757197; longitude = -122.075194; duration = 201; initialDepth = 949.377213; finalDepth = 976.898999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.4264270000001 # Actual altitude: 77.4264270000001 # Commanded vehicle depth: 976.898999 # Seafloor depth: -1046.881012 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 6 # Segment length 100.625221 meters # Minimum depth: 999.377213 meters looking forward 200.000000 meters along route # Maximum depth: 1047.774138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 949.377213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.757602; longitude = -122.074185; duration = 201; initialDepth = 939.685671; finalDepth = 949.377213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.292507 # Actual altitude: 73.292507 # Commanded vehicle depth: 949.377213 # Seafloor depth: -1022.669720 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.99; 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 6 # Segment length 100.624817 meters # Minimum depth: 989.685671 meters looking forward 200.000000 meters along route # Maximum depth: 1021.138555 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 939.685671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758008; longitude = -122.073177; duration = 201; initialDepth = 919.451563; finalDepth = 939.685671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.292507 # Actual altitude: 73.292507 # Commanded vehicle depth: 939.685671 # Seafloor depth: -998.626940 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.99; 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 6 # Segment length 104.371361 meters # Minimum depth: 969.451563 meters looking forward 200.000000 meters along route # Maximum depth: 1008.485093 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 919.451563 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758413; longitude = -122.072169; duration = 208; initialDepth = 913.026960; finalDepth = 919.451563; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 75.311231 # Actual altitude: 75.311231 # Commanded vehicle depth: 919.451563 # Seafloor depth: -994.762794 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.59; 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 to get to end of line 5 # Segment length 162.547466 meters # Minimum depth: 963.026960 meters looking forward 200.000000 meters along route # Maximum depth: 977.728221 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 913.026960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.758834; longitude = -122.071123; duration = 325; # abortOnTimeout = True; initialDepth = 900.061985; finalDepth = 913.026960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.311231 # Actual altitude: 75.311231 # Commanded vehicle depth: 913.02696 # Seafloor depth: -968.220779 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 108.041882 meters # Minimum depth: 950.061985 meters looking forward 200.000000 meters along route # Maximum depth: 973.669672 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 900.061985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760065; longitude = -122.070136; duration = 216; initialDepth = 859.230112; finalDepth = 900.061985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.20277 # Actual altitude: 62.20277 # Commanded vehicle depth: 900.061985 # Seafloor depth: -962.264755 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.66; 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 5 # Segment length 110.708663 meters # Minimum depth: 909.230112 meters looking forward 200.000000 meters along route # Maximum depth: 962.522792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 859.230112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.760884; longitude = -122.069480; duration = 221; initialDepth = 838.651533; finalDepth = 859.230112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.305293 # Actual altitude: 99.305293 # Commanded vehicle depth: 859.230112 # Seafloor depth: -958.535405 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.79; 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 5 # Segment length 102.467170 meters # Minimum depth: 888.651533 meters looking forward 200.000000 meters along route # Maximum depth: 942.576115 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 838.651533 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.761722; longitude = -122.068808; duration = 204; initialDepth = 817.538628; finalDepth = 838.651533; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.305293 # Actual altitude: 99.305293 # Commanded vehicle depth: 838.651533 # Seafloor depth: -911.610532 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.79; 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 5 # Segment length 107.071955 meters # Minimum depth: 867.538628 meters looking forward 200.000000 meters along route # Maximum depth: 900.833604 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 817.538628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.762499; longitude = -122.068186; duration = 214; initialDepth = 808.411503; finalDepth = 817.538628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.9589990000001 # Actual altitude: 72.9589990000001 # Commanded vehicle depth: 817.538628 # Seafloor depth: -883.337210 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.071647 meters # Minimum depth: 858.411503 meters looking forward 200.000000 meters along route # Maximum depth: 882.630312 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 808.411503 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.763310; longitude = -122.067536; duration = 214; initialDepth = 795.076272; finalDepth = 808.411503; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.798582 # Actual altitude: 65.798582 # Commanded vehicle depth: 808.411503 # Seafloor depth: -867.579878 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.769381 meters # Minimum depth: 845.076272 meters looking forward 200.000000 meters along route # Maximum depth: 865.879525 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 795.076272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764121; longitude = -122.066886; duration = 215; initialDepth = 773.767781; finalDepth = 795.076272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.687243 # Actual altitude: 62.687243 # Commanded vehicle depth: 795.076272 # Seafloor depth: -857.763515 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.81; 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 110.707069 meters # Minimum depth: 823.767781 meters looking forward 200.000000 meters along route # Maximum depth: 860.848186 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 773.767781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.764937; longitude = -122.066231; duration = 221; initialDepth = 759.983944; finalDepth = 773.767781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3980329999999 # Actual altitude: 71.3980329999999 # Commanded vehicle depth: 773.767781 # Seafloor depth: -845.165814 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.42; 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 5 # Segment length 102.736641 meters # Minimum depth: 809.983944 meters looking forward 200.000000 meters along route # Maximum depth: 846.954987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 759.983944 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.765776; longitude = -122.065559; duration = 205; initialDepth = 733.471187; finalDepth = 759.983944; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.3980329999999 # Actual altitude: 71.3980329999999 # Commanded vehicle depth: 759.983944 # Seafloor depth: -824.737803 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.42; 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 5 # Segment length 100.225464 meters # Minimum depth: 783.471187 meters looking forward 200.000000 meters along route # Maximum depth: 827.963882 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 733.471187 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.766554; longitude = -122.064935; duration = 200; initialDepth = 701.979613; finalDepth = 733.471187; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.933173 # Actual altitude: 74.933173 # Commanded vehicle depth: 733.471187 # Seafloor depth: -808.404360 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 5 # Segment length 102.018392 meters # Minimum depth: 751.979613 meters looking forward 200.000000 meters along route # Maximum depth: 807.485454 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 701.979613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.767314; longitude = -122.064327; duration = 204; initialDepth = 671.303243; finalDepth = 701.979613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2397910000001 # Actual altitude: 79.2397910000001 # Commanded vehicle depth: 701.979613 # Seafloor depth: -781.219404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.77; 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 5 # Segment length 107.069831 meters # Minimum depth: 721.303243 meters looking forward 200.000000 meters along route # Maximum depth: 779.124314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 671.303243 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768086; longitude = -122.063707; duration = 214; initialDepth = 653.129821; finalDepth = 671.303243; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.2397910000001 # Actual altitude: 79.2397910000001 # Commanded vehicle depth: 671.303243 # Seafloor depth: -747.242814 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.77; 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 5 # Segment length 107.069523 meters # Minimum depth: 703.129821 meters looking forward 200.000000 meters along route # Maximum depth: 739.920484 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 653.129821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.768898; longitude = -122.063057; duration = 214; initialDepth = 625.802587; finalDepth = 653.129821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.939571 # Actual altitude: 75.939571 # Commanded vehicle depth: 653.129821 # Seafloor depth: -720.814440 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.78; 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 5 # Segment length 108.213985 meters # Minimum depth: 675.802587 meters looking forward 200.000000 meters along route # Maximum depth: 715.199887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 625.802587 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.769709; longitude = -122.062407; duration = 216; initialDepth = 577.615850; finalDepth = 625.802587; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.9166759999999 # Actual altitude: 76.9166759999999 # Commanded vehicle depth: 625.802587 # Seafloor depth: -702.719263 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.08; 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 5 # Segment length 110.704872 meters # Minimum depth: 627.615850 meters looking forward 200.000000 meters along route # Maximum depth: 698.470421 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 577.615850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.770528; longitude = -122.061750; duration = 221; initialDepth = 556.635961; finalDepth = 577.615850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.000858 # Actual altitude: 98.000858 # Commanded vehicle depth: 577.61585 # Seafloor depth: -675.616708 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.40; 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 5 # Segment length 102.287863 meters # Minimum depth: 606.635961 meters looking forward 200.000000 meters along route # Maximum depth: 665.404362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 556.635961 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.771367; longitude = -122.061078; duration = 204; initialDepth = 526.583870; finalDepth = 556.635961; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 98.000858 # Actual altitude: 98.000858 # Commanded vehicle depth: 556.635961 # Seafloor depth: -626.351225 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.40; 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 5 # Segment length 100.670214 meters # Minimum depth: 576.583870 meters looking forward 200.000000 meters along route # Maximum depth: 625.312886 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 526.583870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772142; longitude = -122.060457; duration = 201; initialDepth = 506.417821; finalDepth = 526.583870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9107919999999 # Actual altitude: 75.9107919999999 # Commanded vehicle depth: 526.58387 # Seafloor depth: -602.494662 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.77; 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 5 # Segment length 101.569631 meters # Minimum depth: 556.417821 meters looking forward 200.000000 meters along route # Maximum depth: 600.914970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 506.417821 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772905; longitude = -122.059845; duration = 203; initialDepth = 481.198769; finalDepth = 506.417821; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.9107919999999 # Actual altitude: 75.9107919999999 # Commanded vehicle depth: 506.417821 # Seafloor depth: -576.317783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.77; 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 5 # Segment length 101.387338 meters # Minimum depth: 531.198769 meters looking forward 200.000000 meters along route # Maximum depth: 575.590805 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 481.198769 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773674; longitude = -122.059229; duration = 202; initialDepth = 453.318522; finalDepth = 481.198769; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.4610280000001 # Actual altitude: 73.4610280000001 # Commanded vehicle depth: 481.198769 # Seafloor depth: -554.659797 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.04; 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 5 # Segment length 100.851407 meters # Minimum depth: 503.318522 meters looking forward 200.000000 meters along route # Maximum depth: 550.884743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 453.318522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774442; longitude = -122.058613; duration = 201; initialDepth = 422.819506; finalDepth = 453.318522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 76.030503 # Actual altitude: 76.030503 # Commanded vehicle depth: 453.318522 # Seafloor depth: -529.349025 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.067125 meters # Minimum depth: 472.819506 meters looking forward 200.000000 meters along route # Maximum depth: 527.192063 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 422.819506 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775206; longitude = -122.058001; duration = 214; initialDepth = 392.254667; finalDepth = 422.819506; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.867544 # Actual altitude: 77.867544 # Commanded vehicle depth: 422.819506 # Seafloor depth: -500.687050 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.36; 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 5 # Segment length 107.066818 meters # Minimum depth: 442.254667 meters looking forward 200.000000 meters along route # Maximum depth: 496.615213 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 392.254667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776017; longitude = -122.057351; duration = 214; initialDepth = 356.855416; finalDepth = 392.254667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.247088 # Actual altitude: 79.247088 # Commanded vehicle depth: 392.254667 # Seafloor depth: -471.501755 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.77; 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 5 # Segment length 103.165709 meters # Minimum depth: 406.855416 meters looking forward 200.000000 meters along route # Maximum depth: 471.744008 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 356.855416 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776828; longitude = -122.056700; duration = 206; initialDepth = 313.444080; finalDepth = 356.855416; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.896256 # Actual altitude: 84.896256 # Commanded vehicle depth: 356.855416 # Seafloor depth: -441.751672 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.47; 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 94.135940 meters # Minimum depth: 363.444080 meters looking forward 200.000000 meters along route # Maximum depth: 442.254667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 313.444080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777610; longitude = -122.056074; duration = 188; # abortOnTimeout = True; initialDepth = 290.534589; finalDepth = 313.444080; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.836247 # Actual altitude: 90.836247 # Commanded vehicle depth: 313.44408 # Seafloor depth: -404.280327 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.25; 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 4 # Segment length 100.918667 meters # Minimum depth: 340.534589 meters looking forward 200.000000 meters along route # Maximum depth: 404.280327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 290.534589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778451; longitude = -122.055931; duration = 201; initialDepth = 284.358423; finalDepth = 290.534589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.836247 # Actual altitude: 90.836247 # Commanded vehicle depth: 290.534589 # Seafloor depth: -358.867985 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.25; 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 4 # Segment length 100.918662 meters # Minimum depth: 334.358423 meters looking forward 200.000000 meters along route # Maximum depth: 357.642213 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 284.358423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779352; longitude = -122.055777; duration = 201; initialDepth = 268.808822; finalDepth = 284.358423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.333396 # Actual altitude: 68.333396 # Commanded vehicle depth: 284.358423 # Seafloor depth: -338.291387 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.50; 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 4 # Segment length 100.918659 meters # Minimum depth: 318.808822 meters looking forward 200.000000 meters along route # Maximum depth: 341.787960 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.808822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780253; longitude = -122.055623; duration = 201; initialDepth = 255.838892; finalDepth = 268.808822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.417321 # Actual altitude: 64.417321 # Commanded vehicle depth: 268.808822 # Seafloor depth: -333.226143 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 4 # Segment length 100.918654 meters # Minimum depth: 305.838892 meters looking forward 200.000000 meters along route # Maximum depth: 333.708256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.838892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781154; longitude = -122.055470; duration = 201; initialDepth = 233.160026; finalDepth = 255.838892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.417321 # Actual altitude: 64.417321 # Commanded vehicle depth: 255.838892 # Seafloor depth: -317.515132 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 4 # Segment length 100.918651 meters # Minimum depth: 283.160026 meters looking forward 200.000000 meters along route # Maximum depth: 318.724198 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 233.160026 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782056; longitude = -122.055316; duration = 201; initialDepth = 224.147933; finalDepth = 233.160026; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.653231 # Actual altitude: 69.653231 # Commanded vehicle depth: 233.160026 # Seafloor depth: -302.813257 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.918646 meters # Minimum depth: 274.147933 meters looking forward 200.000000 meters along route # Maximum depth: 302.687758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 224.147933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782957; longitude = -122.055162; duration = 201; initialDepth = 212.156851; finalDepth = 224.147933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.653231 # Actual altitude: 69.653231 # Commanded vehicle depth: 224.147933 # Seafloor depth: -281.224373 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 4 # Segment length 100.918642 meters # Minimum depth: 262.156851 meters looking forward 200.000000 meters along route # Maximum depth: 280.337544 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 212.156851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783858; longitude = -122.055009; duration = 201; initialDepth = 197.192793; finalDepth = 212.156851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.53293 # Actual altitude: 60.53293 # Commanded vehicle depth: 212.156851 # Seafloor depth: -272.689781 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.16; 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 4 # Segment length 100.918638 meters # Minimum depth: 247.192793 meters looking forward 200.000000 meters along route # Maximum depth: 271.150331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 197.192793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784759; longitude = -122.054855; duration = 201; initialDepth = 179.196423; finalDepth = 197.192793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.870979 # Actual altitude: 64.870979 # Commanded vehicle depth: 197.192793 # Seafloor depth: -262.063772 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 4 # Segment length 104.282588 meters # Minimum depth: 229.196423 meters looking forward 200.000000 meters along route # Maximum depth: 260.101441 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 179.196423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785661; longitude = -122.054701; duration = 208; initialDepth = 169.955977; finalDepth = 179.196423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.602279 # Actual altitude: 67.602279 # Commanded vehicle depth: 179.196423 # Seafloor depth: -246.798702 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 172.150919 meters # Minimum depth: 219.955977 meters looking forward 200.000000 meters along route # Maximum depth: 232.627208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 169.955977 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786592; longitude = -122.054543; duration = 344; # abortOnTimeout = True; initialDepth = 155.680928; finalDepth = 169.955977; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.602279 # Actual altitude: 67.602279 # Commanded vehicle depth: 169.955977 # Seafloor depth: -229.347575 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.707209 meters # Minimum depth: 205.680928 meters looking forward 200.000000 meters along route # Maximum depth: 226.401138 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 155.680928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788094; longitude = -122.054058; duration = 213; initialDepth = 142.382393; finalDepth = 155.680928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.067159 # Actual altitude: 64.067159 # Commanded vehicle depth: 155.680928 # Seafloor depth: -219.748087 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 86.803964 meters # Minimum depth: 192.382393 meters looking forward 200.000000 meters along route # Maximum depth: 219.748087 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 142.382393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789025; longitude = -122.053758; duration = 173; # abortOnTimeout = True; initialDepth = 125.016613; finalDepth = 142.382393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.067159 # Actual altitude: 64.067159 # Commanded vehicle depth: 142.382393 # Seafloor depth: -205.375511 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.129033 meters # Minimum depth: 175.016613 meters looking forward 200.000000 meters along route # Maximum depth: 205.680928 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 125.016613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789806; longitude = -122.053811; duration = 200; initialDepth = 109.113754; finalDepth = 125.016613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.076388 # Actual altitude: 65.076388 # Commanded vehicle depth: 125.016613 # Seafloor depth: -190.093001 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 2 # Segment length 100.129043 meters # Minimum depth: 159.113754 meters looking forward 200.000000 meters along route # Maximum depth: 188.546393 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.113754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790708; longitude = -122.053871; duration = 200; initialDepth = 97.345202; finalDepth = 109.113754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.076388 # Actual altitude: 65.076388 # Commanded vehicle depth: 109.113754 # Seafloor depth: -173.420619 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 2 # Segment length 100.129054 meters # Minimum depth: 147.345202 meters looking forward 200.000000 meters along route # Maximum depth: 171.262862 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 97.345202 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791609; longitude = -122.053932; duration = 200; initialDepth = 86.055736; finalDepth = 97.345202; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.306865 # Actual altitude: 64.306865 # Commanded vehicle depth: 97.345202 # Seafloor depth: -157.743962 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 2 # Segment length 106.804335 meters # Minimum depth: 136.055736 meters looking forward 200.000000 meters along route # Maximum depth: 156.526103 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 86.055736 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792510; longitude = -122.053992; duration = 213; initialDepth = 81.050060; finalDepth = 86.055736; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.914309 # Actual altitude: 60.914309 # Commanded vehicle depth: 86.055736 # Seafloor depth: -146.970045 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 100.407850 meters # Minimum depth: 131.050060 meters looking forward 200.000000 meters along route # Maximum depth: 146.142372 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 81.050060 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793471; longitude = -122.054057; duration = 200; # abortOnTimeout = True; initialDepth = 77.028603; finalDepth = 81.050060; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.914309 # Actual altitude: 60.914309 # Commanded vehicle depth: 81.05006 # Seafloor depth: -135.594828 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.579678 meters # Minimum depth: 127.028603 meters looking forward 200.000000 meters along route # Maximum depth: 135.186172 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 77.028603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -122.054472; duration = 215; initialDepth = 72.174654; finalDepth = 77.028603; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.544768 # Actual altitude: 54.544768 # Commanded vehicle depth: 77.028603 # Seafloor depth: -130.960874 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 1 # Segment length 107.950475 meters # Minimum depth: 122.174654 meters looking forward 200.000000 meters along route # Maximum depth: 130.702043 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 72.174654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795214; longitude = -122.054918; duration = 215; initialDepth = 66.992877; finalDepth = 72.174654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.835345 # Actual altitude: 54.835345 # Commanded vehicle depth: 72.174654 # Seafloor depth: -127.009999 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 1 # Segment length 107.208382 meters # Minimum depth: 116.992877 meters looking forward 200.000000 meters along route # Maximum depth: 125.642595 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 66.992877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796118; longitude = -122.055364; duration = 214; initialDepth = 62.284269; finalDepth = 66.992877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.17249 # Actual altitude: 55.17249 # Commanded vehicle depth: 66.992877 # Seafloor depth: -122.165367 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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 1 # Segment length 100.407238 meters # Minimum depth: 112.284269 meters looking forward 200.000000 meters along route # Maximum depth: 121.807855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 62.284269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797016; longitude = -122.055808; duration = 200; initialDepth = 61.917358; finalDepth = 62.284269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 55.17249 # Actual altitude: 55.17249 # Commanded vehicle depth: 62.284269 # Seafloor depth: -116.400890 # 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 = 20; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 54.116621 # Sonar parameter altitude: 54.116621 # Commanded vehicle depth: 61.917358 # Seafloor depth: -111.917358 # 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 = 218; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 20; 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; 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: 111.917358 meters looking forward 200.000000 meters along route # Maximum depth: 121.807855 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 1424.815206 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.917358 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.797857; longitude = -122.056223; duration = 600; depth = 61.917358; 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 = 100.0; 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 = 100.0; 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 = 20; 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; } # ####################################################### ####################################################### ####################################################### #######################################################