# 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: CCEShallow_m1_v5.rte # Mission File: CCEShallow_m1_v5.cfg # Distance: 87512.453555 (m) # Estimated Time: 59473 (s) 16.520 (hr) # Abort Time: 66300 (s) # Max battery life: 68400 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 146 # Route Points: 808 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointDepth # Behavior for waypoint mode 3: WaypointDepth # Behavior for waypoint mode 4: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # Multibeam enabled # Multibeam receive gain: 25 dB # Multibeam transmit gain: 220 dB # Multibeam pulse width: 6e-05 usec # Multibeam minimum range fraction: 0.3 # Multibeam maximum range fraction: 5.0 # Subbottom enabled # Low sidescan enabled # High sidescan enabled # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 40 (m) # Abort Vehicle Altitude 1: 20 (m) # Delta Depth Restart 1: 20 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 50 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 507.188822 (m) # Abort Vehicle Depth: 527.188822 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # Maximum climb rate: 36.0 (degrees) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.824729 36.805007 -42.072468 0.000000 3 # 1 -121.824318 36.799480 -122.685907 614.286119 1 # 2 -121.824878 36.795064 -154.830006 1106.758242 1 # 3 -121.828015 36.792720 -163.554672 1488.826279 1 # 4 -121.830330 36.791939 -170.109791 1712.829357 1 # 5 -121.851682 36.798788 -279.984917 3763.918360 1 # 6 -121.853633 36.801853 -278.505119 4145.924505 1 # 7 -121.856135 36.804256 -277.581642 4493.633475 1 # 8 -121.859160 36.804617 -291.547394 4766.464021 1 # 9 -121.862707 36.803745 -223.236504 5097.367570 1 # 10 -121.864649 36.800831 -271.869347 5464.157919 1 # 11 -121.866404 36.799239 -304.427544 5700.193676 1 # 12 -121.877197 36.795424 -362.796333 6752.083943 1 # 13 -121.884143 36.799119 -365.161858 7495.135190 1 # 14 -121.890715 36.798248 -382.595497 8089.404103 1 # 15 -121.893665 36.800741 -353.983894 8471.202911 1 # 16 -121.897586 36.801823 -351.049103 8841.048301 1 # 17 -121.899902 36.801492 -352.014061 9050.913235 1 # 18 -121.907557 36.798128 -398.472275 9829.205894 1 # 19 -121.908678 36.795694 -416.037590 10117.167674 1 # 20 -121.907184 36.785450 -481.569733 11261.452538 3 # 21 -121.905429 36.785601 -486.485497 11418.954841 3 # 22 -121.906960 36.795184 -473.018967 12490.856418 1 # 23 -121.906400 36.797166 -480.855453 12716.349686 1 # 24 -121.899603 36.800291 -458.485382 13414.889469 1 # 25 -121.897250 36.800831 -423.810623 13633.201646 1 # 26 -121.894412 36.799690 -435.615433 13916.284432 1 # 27 -121.891425 36.797046 -426.320198 14312.602910 1 # 28 -121.884329 36.797887 -424.406235 14952.562622 1 # 29 -121.877085 36.794162 -365.753357 15719.727007 1 # 30 -121.865620 36.797978 -334.610184 16826.828109 1 # 31 -121.863604 36.799780 -345.259964 17095.754205 1 # 32 -121.862035 36.802664 -313.028244 17444.997268 1 # 33 -121.859010 36.803295 -345.889702 17723.808817 1 # 34 -121.856546 36.802934 -329.084831 17947.256580 1 # 35 -121.854566 36.800831 -318.335335 18239.902244 1 # 36 -121.852265 36.797617 -306.069336 18651.352857 1 # 37 -121.830904 36.790737 -211.863346 20704.490891 1 # 38 -121.827641 36.791669 -201.806816 21013.466136 1 # 39 -121.823608 36.794913 -194.884144 21522.414588 1 # 40 -121.823048 36.799420 -172.210205 22024.931752 3 # 41 -121.821928 36.799239 -189.619080 22126.857512 3 # 42 -121.822301 36.794703 -209.848110 22631.201243 1 # 43 -121.827231 36.790647 -229.050915 23260.489083 1 # 44 -121.831488 36.789566 -234.219257 23658.832623 1 # 45 -121.852848 36.796445 -317.007515 25711.873201 1 # 46 -121.855351 36.799750 -328.099167 26141.197733 1 # 47 -121.856807 36.801552 -334.753883 26379.615682 1 # 48 -121.859010 36.802213 -334.861786 26589.397691 1 # 49 -121.861027 36.801583 -352.483795 26782.446976 1 # 50 -121.862595 36.799239 -360.173218 27077.739808 1 # 51 -121.864948 36.796986 -357.058273 27404.163558 1 # 52 -121.877085 36.792810 -408.564072 28582.037413 1 # 53 -121.884703 36.796776 -431.415825 29391.740952 1 # 54 -121.891649 36.795694 -446.689873 30023.007476 1 # 55 -121.895010 36.798308 -467.907257 30440.175543 1 # 56 -121.897250 36.799660 -483.205826 30690.055279 1 # 57 -121.899603 36.799029 -486.370529 30911.354131 1 # 58 -121.905429 36.796415 -501.184349 31506.585527 1 # 59 -121.905541 36.795064 -508.389740 31656.801559 1 # 60 -121.903972 36.785601 -528.028976 32715.943179 3 # 61 -121.902292 36.785691 -527.156967 32866.191364 3 # 62 -121.903972 36.794973 -485.443237 33906.812955 1 # 63 -121.903711 36.796175 -478.481026 34042.183929 1 # 64 -121.899566 36.797887 -464.428085 34457.932903 1 # 65 -121.897213 36.798608 -474.794395 34682.592890 1 # 66 -121.892321 36.794613 -445.839005 35304.650171 1 # 67 -121.884890 36.795724 -411.093300 35979.040459 1 # 68 -121.877085 36.791639 -390.010307 36809.935698 1 # 69 -121.864052 36.795905 -376.880775 38065.452394 1 # 70 -121.861288 36.798398 -363.005829 38436.013645 1 # 71 -121.859944 36.800651 -332.558136 38713.244521 1 # 72 -121.858487 36.800922 -308.853020 38846.668300 1 # 73 -121.856471 36.799209 -289.037834 39108.335954 1 # 74 -121.853432 36.795274 -232.324844 39622.252037 1 # 75 -121.832071 36.788395 -214.508564 41675.402060 1 # 76 -121.826670 36.789746 -215.859760 42180.120050 1 # 77 -121.821405 36.794613 -188.965103 42895.850935 1 # 78 -121.820695 36.798879 -154.197895 43373.361288 3 # 79 -121.819799 36.798248 -147.131371 43479.624057 3 # 80 -121.820359 36.794463 -154.918278 43902.511551 1 # 81 -121.826222 36.788575 -168.001495 44739.421526 1 # 82 -121.832655 36.787223 -167.682518 45332.740932 1 # 83 -121.854015 36.794102 -219.291870 47385.834751 1 # 84 -121.857218 36.798608 -291.217110 47961.669365 1 # 85 -121.859272 36.799570 -326.985336 48173.742584 1 # 86 -121.860168 36.797677 -314.901932 48398.459396 1 # 87 -121.863043 36.795094 -318.980110 48783.066836 1 # 88 -121.877047 36.790497 -326.993332 50132.689780 1 # 89 -121.884890 36.794553 -376.549675 50964.693232 1 # 90 -121.892433 36.793712 -417.846817 51644.162828 1 # 91 -121.896317 36.796716 -452.942444 52124.960611 1 # 92 -121.899454 36.796626 -418.053123 52405.031373 1 # 93 -121.902292 36.795244 -429.904778 52701.049662 1 # 94 -121.900574 36.785721 -461.852173 53768.618443 3 # 95 -121.896093 36.786081 -404.797508 54170.472547 3 # 96 -121.896429 36.789055 -390.958115 54501.775126 3 # 97 -121.908678 36.788394 -413.292389 55597.237422 3 # 98 -121.909200 36.790858 -402.802635 55874.539086 3 # 99 -121.890752 36.799840 -316.543846 57798.687882 3 # 100 -121.893852 36.790587 -388.977364 58861.851990 3 # 101 -121.896242 36.791368 -372.328430 59092.040977 1 # 102 -121.898781 36.792931 -393.829613 59377.337137 1 # 103 -121.900611 36.795424 -393.126465 59698.519143 3 # 104 -121.898557 36.785631 -416.231918 60800.329658 3 # 105 -121.896914 36.785781 -406.878105 60947.885449 3 # 106 -121.898371 36.796055 -456.542221 62095.099692 1 # 107 -121.896578 36.795785 -446.103340 62257.858401 1 # 108 -121.892657 36.792450 -400.126114 62767.067903 3 # 109 -121.894786 36.792540 -422.840637 62957.296496 1 # 110 -121.897362 36.794883 -462.252396 63304.280611 1 # 111 -121.897138 36.793351 -447.549286 63475.415834 3 # 112 -121.891425 36.792901 -401.748917 63987.609928 1 # 113 -121.885114 36.793381 -382.238983 64553.236031 1 # 114 -121.876935 36.789416 -295.429260 65405.363983 1 # 115 -121.862483 36.793922 -289.069618 66788.415854 3 # 116 -121.867076 36.800141 -277.976387 67590.899150 3 # 117 -121.865433 36.801462 -249.498257 67798.182552 1 # 118 -121.863379 36.804286 -216.417973 68161.143517 1 # 119 -121.859234 36.805728 -265.838753 68564.058292 3 # 120 -121.858487 36.797767 -292.978142 69449.792050 3 # 121 -121.851616 36.800591 -259.916573 70138.250459 3 # 122 -121.850832 36.799510 -267.018448 70277.088774 3 # 123 -121.851616 36.790768 -204.186005 71249.478726 3 # 124 -121.846351 36.789145 -154.867504 71752.608318 3 # 125 -121.844488 36.797847 -221.365261 72732.248661 3 # 126 -121.829882 36.793111 -158.668129 74137.412653 1 # 127 -121.828426 36.793742 -142.030373 74284.989916 1 # 128 -121.826110 36.795334 -115.481411 74556.835255 1 # 129 -121.825625 36.799690 -49.932264 75042.042862 3 # 130 -121.818940 36.797497 -145.878914 75686.208785 3 # 131 -121.819388 36.794162 -118.254330 76058.362023 1 # 132 -121.825737 36.787433 -124.201857 76995.530998 1 # 133 -121.832795 36.786081 -135.763073 77642.973008 1 # 134 -121.854678 36.793081 -226.421616 79744.411677 1 # 135 -121.857554 36.797347 -283.333801 80282.788301 1 # 136 -121.859570 36.796896 -291.913719 80469.492023 3 # 137 -121.868085 36.799600 -290.817459 81286.300412 3 # 138 -121.873948 36.797227 -319.027649 81871.919923 3 # 139 -121.870923 36.790287 -316.271942 82687.805354 3 # 140 -121.876861 36.788214 -270.174004 83265.425608 1 # 141 -121.886719 36.792991 -380.079613 84292.376297 3 # 142 -121.880296 36.797978 -352.885429 85088.958474 3 # 143 -121.883769 36.800231 -306.395622 85487.069551 1 # 144 -121.887952 36.799660 -301.301720 85865.612928 3 # 145 -121.887578 36.784819 -248.345753 87512.453555 4 # # A total of 808 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 = 507.188822; abortDepth = 527.188822; 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 145 # Segment length 143.391484 meters # Minimum depth: 248.345753 meters looking forward 100.000000 meters along route # Maximum depth: 299.709344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 198.345753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784819; longitude = -121.887578; duration = 286; # abortOnTimeout = True; initialDepth = 253.638859; finalDepth = 198.345753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 198.345753 # Seafloor depth: -248.345753 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 145 # Segment length 100.006666 meters # Minimum depth: 303.638859 meters looking forward 100.000000 meters along route # Maximum depth: 320.663591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 253.638859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786111; longitude = -121.887611; duration = 200; initialDepth = 272.270340; finalDepth = 253.638859; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 253.638859 # Seafloor depth: -303.638859 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006680 meters # Minimum depth: 322.270340 meters looking forward 100.000000 meters along route # Maximum depth: 359.985965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 272.270340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787012; longitude = -121.887633; duration = 200; initialDepth = 314.645378; finalDepth = 272.270340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 272.27034 # Seafloor depth: -322.270340 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006694 meters # Minimum depth: 364.645378 meters looking forward 100.000000 meters along route # Maximum depth: 387.460094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 314.645378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787914; longitude = -121.887656; duration = 200; initialDepth = 336.170893; finalDepth = 314.645378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 314.645378 # Seafloor depth: -364.645378 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006708 meters # Minimum depth: 386.170893 meters looking forward 100.000000 meters along route # Maximum depth: 388.129090 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 336.170893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788815; longitude = -121.887679; duration = 200; initialDepth = 334.765973; finalDepth = 336.170893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.958197 # Actual altitude: 51.958197 # Commanded vehicle depth: 336.170893 # Seafloor depth: -388.129090 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006722 meters # Minimum depth: 384.765973 meters looking forward 100.000000 meters along route # Maximum depth: 386.700378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 334.765973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789716; longitude = -121.887701; duration = 200; initialDepth = 333.071840; finalDepth = 334.765973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.958197 # Actual altitude: 51.958197 # Commanded vehicle depth: 334.765973 # Seafloor depth: -386.194845 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006736 meters # Minimum depth: 383.071840 meters looking forward 100.000000 meters along route # Maximum depth: 385.567542 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 333.071840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790617; longitude = -121.887724; duration = 200; initialDepth = 330.808749; finalDepth = 333.071840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.212937 # Actual altitude: 52.212937 # Commanded vehicle depth: 333.07184 # Seafloor depth: -385.284777 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006749 meters # Minimum depth: 380.808749 meters looking forward 100.000000 meters along route # Maximum depth: 383.353246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.808749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -121.887747; duration = 200; initialDepth = 327.696403; finalDepth = 330.808749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.212937 # Actual altitude: 52.212937 # Commanded vehicle depth: 330.808749 # Seafloor depth: -382.804288 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006764 meters # Minimum depth: 377.696403 meters looking forward 100.000000 meters along route # Maximum depth: 380.374935 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 327.696403 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792420; longitude = -121.887770; duration = 200; initialDepth = 327.630052; finalDepth = 327.696403; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6594 # Actual altitude: 52.6594 # Commanded vehicle depth: 327.696403 # Seafloor depth: -380.355803 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 145 # Segment length 100.006777 meters # Minimum depth: 377.630052 meters looking forward 100.000000 meters along route # Maximum depth: 388.451207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 327.630052 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.887792; duration = 200; initialDepth = 339.761635; finalDepth = 327.630052; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.6594 # Actual altitude: 52.6594 # Commanded vehicle depth: 327.630052 # Seafloor depth: -378.685643 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 145 # Segment length 100.006792 meters # Minimum depth: 389.761635 meters looking forward 100.000000 meters along route # Maximum depth: 396.128234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 339.761635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -121.887815; duration = 200; initialDepth = 345.152993; finalDepth = 339.761635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.055591 # Actual altitude: 51.055591 # Commanded vehicle depth: 339.761635 # Seafloor depth: -389.761635 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006805 meters # Minimum depth: 395.152993 meters looking forward 100.000000 meters along route # Maximum depth: 408.457389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 345.152993 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -121.887838; duration = 200; initialDepth = 361.983682; finalDepth = 345.152993; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 345.152993 # Seafloor depth: -395.152993 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006819 meters # Minimum depth: 411.983682 meters looking forward 100.000000 meters along route # Maximum depth: 433.355856 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 361.983682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796025; longitude = -121.887860; duration = 200; initialDepth = 384.008628; finalDepth = 361.983682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 361.983682 # Seafloor depth: -411.983682 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006833 meters # Minimum depth: 434.008628 meters looking forward 100.000000 meters along route # Maximum depth: 439.357439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 384.008628 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796926; longitude = -121.887883; duration = 200; initialDepth = 343.107589; finalDepth = 384.008628; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 384.008628 # Seafloor depth: -434.008628 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 145 # Segment length 100.006847 meters # Minimum depth: 393.107589 meters looking forward 100.000000 meters along route # Maximum depth: 438.716355 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 343.107589 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797827; longitude = -121.887906; duration = 200; initialDepth = 252.701402; finalDepth = 343.107589; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 95.316842 # Actual altitude: 95.316842 # Commanded vehicle depth: 343.107589 # Seafloor depth: -438.424431 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.60; 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 145 # Segment length 103.354551 meters # Minimum depth: 302.701402 meters looking forward 100.000000 meters along route # Maximum depth: 386.986268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 252.701402 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798729; longitude = -121.887929; duration = 206; initialDepth = 251.301720; finalDepth = 252.701402; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 134.284866 # Actual altitude: 100 # Commanded vehicle depth: 252.701402 # Seafloor depth: -386.986268 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 144 # Segment length 169.000275 meters # Minimum depth: 301.301720 meters looking forward 100.000000 meters along route # Maximum depth: 308.396820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 251.301720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799660; longitude = -121.887952; duration = 338; # abortOnTimeout = True; initialDepth = 255.639991; finalDepth = 251.301720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 134.284866 # Actual altitude: 100 # Commanded vehicle depth: 251.30172 # Seafloor depth: -301.301720 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 144 # Segment length 101.383602 meters # Minimum depth: 305.639991 meters looking forward 100.000000 meters along route # Maximum depth: 313.766953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.639991 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799915; longitude = -121.886085; duration = 202; initialDepth = 255.263257; finalDepth = 255.639991; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.264365 # Actual altitude: 51.264365 # Commanded vehicle depth: 255.639991 # Seafloor depth: -306.904356 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 144 # Segment length 108.159500 meters # Minimum depth: 305.263257 meters looking forward 100.000000 meters along route # Maximum depth: 315.545373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.263257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800068; longitude = -121.884964; duration = 216; initialDepth = 256.395622; finalDepth = 255.263257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.282116 # Actual altitude: 60.282116 # Commanded vehicle depth: 255.263257 # Seafloor depth: -315.545373 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.08; 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 143 # Segment length 94.153756 meters # Minimum depth: 306.395622 meters looking forward 100.000000 meters along route # Maximum depth: 324.167263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 256.395622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800231; longitude = -121.883769; duration = 188; # abortOnTimeout = True; initialDepth = 274.429715; finalDepth = 256.395622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.282116 # Actual altitude: 60.282116 # Commanded vehicle depth: 256.395622 # Seafloor depth: -306.395622 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.08; 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 143 # Segment length 102.737394 meters # Minimum depth: 324.429715 meters looking forward 100.000000 meters along route # Maximum depth: 334.240193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 274.429715 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799698; longitude = -121.882948; duration = 205; initialDepth = 284.220591; finalDepth = 274.429715; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 274.429715 # Seafloor depth: -324.429715 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 100.438262 meters # Minimum depth: 334.220591 meters looking forward 100.000000 meters along route # Maximum depth: 341.236330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 284.220591 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799117; longitude = -121.882051; duration = 200; initialDepth = 292.462331; finalDepth = 284.220591; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.459797 # Actual altitude: 52.459797 # Commanded vehicle depth: 284.220591 # Seafloor depth: -336.680388 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 143 # Segment length 100.781665 meters # Minimum depth: 342.462331 meters looking forward 100.000000 meters along route # Maximum depth: 352.718077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 292.462331 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.881175; duration = 201; initialDepth = 302.340369; finalDepth = 292.462331; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.459797 # Actual altitude: 52.459797 # Commanded vehicle depth: 292.462331 # Seafloor depth: -342.462331 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.74; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 142 # Segment length 81.645234 meters # Minimum depth: 352.340369 meters looking forward 100.000000 meters along route # Maximum depth: 368.778327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 302.340369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797978; longitude = -121.880296; duration = 163; # abortOnTimeout = True; initialDepth = 319.460211; finalDepth = 302.340369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.54506 # Actual altitude: 50.54506 # Commanded vehicle depth: 302.340369 # Seafloor depth: -352.885429 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 142 # Segment length 100.768680 meters # Minimum depth: 369.460211 meters looking forward 100.000000 meters along route # Maximum depth: 403.305575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 319.460211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797467; longitude = -121.880954; duration = 201; initialDepth = 352.718807; finalDepth = 319.460211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.54506 # Actual altitude: 50.54506 # Commanded vehicle depth: 319.460211 # Seafloor depth: -369.460211 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 100.769085 meters # Minimum depth: 402.718807 meters looking forward 100.000000 meters along route # Maximum depth: 422.708394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.718807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796836; longitude = -121.881767; duration = 201; initialDepth = 375.135092; finalDepth = 352.718807; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.374958 # Actual altitude: 50.374958 # Commanded vehicle depth: 352.718807 # Seafloor depth: -403.093765 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 101.245853 meters # Minimum depth: 425.135092 meters looking forward 100.000000 meters along route # Maximum depth: 429.553435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 375.135092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796205; longitude = -121.882579; duration = 202; initialDepth = 356.029548; finalDepth = 375.135092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.374958 # Actual altitude: 50.374958 # Commanded vehicle depth: 375.135092 # Seafloor depth: -425.135092 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 142 # Segment length 100.293531 meters # Minimum depth: 406.029548 meters looking forward 100.000000 meters along route # Maximum depth: 427.343915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 356.029548 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795571; longitude = -121.883396; duration = 200; initialDepth = 324.231196; finalDepth = 356.029548; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.314367 # Actual altitude: 71.314367 # Commanded vehicle depth: 356.029548 # Seafloor depth: -427.343915 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.39; 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 142 # Segment length 100.770300 meters # Minimum depth: 374.231196 meters looking forward 100.000000 meters along route # Maximum depth: 405.036967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 324.231196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794943; longitude = -121.884204; duration = 201; initialDepth = 324.250622; finalDepth = 324.231196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.805771 # Actual altitude: 80.805771 # Commanded vehicle depth: 324.231196 # Seafloor depth: -405.036967 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.24; 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 142 # Segment length 104.609747 meters # Minimum depth: 374.250622 meters looking forward 100.000000 meters along route # Maximum depth: 380.545447 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 324.250622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -121.885017; duration = 209; initialDepth = 329.363176; finalDepth = 324.250622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.805771 # Actual altitude: 80.805771 # Commanded vehicle depth: 324.250622 # Seafloor depth: -374.250622 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.24; 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 142 # Segment length 106.479747 meters # Minimum depth: 379.363176 meters looking forward 100.000000 meters along route # Maximum depth: 381.543456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 329.363176 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793658; longitude = -121.885860; duration = 212; initialDepth = 329.395330; finalDepth = 329.363176; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.972863 # Actual altitude: 50.972863 # Commanded vehicle depth: 329.363176 # Seafloor depth: -380.336039 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.29; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 141 # Segment length 77.766941 meters # Minimum depth: 379.395330 meters looking forward 100.000000 meters along route # Maximum depth: 381.662057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 329.395330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792991; longitude = -121.886719; duration = 155; # abortOnTimeout = True; initialDepth = 330.421423; finalDepth = 329.395330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.972863 # Actual altitude: 50.972863 # Commanded vehicle depth: 329.39533 # Seafloor depth: -380.079613 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.29; 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 141 # Segment length 105.035411 meters # Minimum depth: 380.421423 meters looking forward 100.000000 meters along route # Maximum depth: 383.436411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.421423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792629; longitude = -121.885972; duration = 210; initialDepth = 332.395426; finalDepth = 330.421423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.684283 # Actual altitude: 50.684283 # Commanded vehicle depth: 330.421423 # Seafloor depth: -380.421423 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 105.035921 meters # Minimum depth: 382.395426 meters looking forward 100.000000 meters along route # Maximum depth: 384.031820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 332.395426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792141; longitude = -121.884964; duration = 210; initialDepth = 322.637141; finalDepth = 332.395426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 332.395426 # Seafloor depth: -382.395426 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 106.175189 meters # Minimum depth: 372.637141 meters looking forward 100.000000 meters along route # Maximum depth: 384.343310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 322.637141 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791652; longitude = -121.883956; duration = 212; initialDepth = 309.043850; finalDepth = 322.637141; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.706169 # Actual altitude: 61.706169 # Commanded vehicle depth: 322.637141 # Seafloor depth: -384.343310 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.51; 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 141 # Segment length 103.898184 meters # Minimum depth: 359.043850 meters looking forward 100.000000 meters along route # Maximum depth: 372.389437 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 309.043850 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791158; longitude = -121.882937; duration = 207; initialDepth = 292.032493; finalDepth = 309.043850; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.345587 # Actual altitude: 63.345587 # Commanded vehicle depth: 309.04385 # Seafloor depth: -372.389437 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.00; 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 141 # Segment length 109.223529 meters # Minimum depth: 342.032493 meters looking forward 100.000000 meters along route # Maximum depth: 358.969197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 292.032493 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790675; longitude = -121.881939; duration = 218; initialDepth = 280.170134; finalDepth = 292.032493; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.936704 # Actual altitude: 66.936704 # Commanded vehicle depth: 292.032493 # Seafloor depth: -358.969197 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 100.851886 meters # Minimum depth: 330.170134 meters looking forward 100.000000 meters along route # Maximum depth: 341.495636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.170134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790167; longitude = -121.880891; duration = 201; initialDepth = 269.057972; finalDepth = 280.170134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.936704 # Actual altitude: 66.936704 # Commanded vehicle depth: 280.170134 # Seafloor depth: -341.495636 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 141 # Segment length 105.038473 meters # Minimum depth: 319.057972 meters looking forward 100.000000 meters along route # Maximum depth: 329.821948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 269.057972 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789698; longitude = -121.879923; duration = 210; initialDepth = 251.071929; finalDepth = 269.057972; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.325502 # Actual altitude: 61.325502 # Commanded vehicle depth: 269.057972 # Seafloor depth: -329.821948 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.40; 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 141 # Segment length 105.038984 meters # Minimum depth: 301.071929 meters looking forward 100.000000 meters along route # Maximum depth: 318.148058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 251.071929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789209; longitude = -121.878914; duration = 210; initialDepth = 220.697368; finalDepth = 251.071929; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.076129 # Actual altitude: 67.076129 # Commanded vehicle depth: 251.071929 # Seafloor depth: -318.148058 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.12; 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 141 # Segment length 108.886171 meters # Minimum depth: 270.697368 meters looking forward 100.000000 meters along route # Maximum depth: 300.713084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 220.697368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788720; longitude = -121.877906; duration = 217; initialDepth = 220.174004; finalDepth = 220.697368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.015716 # Actual altitude: 80.015716 # Commanded vehicle depth: 220.697368 # Seafloor depth: -300.713084 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.00; 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 140 # Segment length 167.446986 meters # Minimum depth: 270.174004 meters looking forward 100.000000 meters along route # Maximum depth: 283.847353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 220.174004 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788214; longitude = -121.876861; duration = 334; # abortOnTimeout = True; initialDepth = 226.797206; finalDepth = 220.174004; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.015716 # Actual altitude: 80.015716 # Commanded vehicle depth: 220.174004 # Seafloor depth: -270.174004 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.00; 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 140 # Segment length 100.448896 meters # Minimum depth: 276.797206 meters looking forward 100.000000 meters along route # Maximum depth: 283.537404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 226.797206 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788815; longitude = -121.875140; duration = 200; initialDepth = 224.099039; finalDepth = 226.797206; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.740198 # Actual altitude: 56.740198 # Commanded vehicle depth: 226.797206 # Seafloor depth: -283.537404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 140 # Segment length 100.448523 meters # Minimum depth: 274.099039 meters looking forward 100.000000 meters along route # Maximum depth: 282.654499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 224.099039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789175; longitude = -121.874107; duration = 200; initialDepth = 232.969839; finalDepth = 224.099039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.740198 # Actual altitude: 56.740198 # Commanded vehicle depth: 224.099039 # Seafloor depth: -276.150754 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 140 # Segment length 107.571755 meters # Minimum depth: 282.969839 meters looking forward 100.000000 meters along route # Maximum depth: 301.302459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 232.969839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789536; longitude = -121.873074; duration = 215; initialDepth = 251.632450; finalDepth = 232.969839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.051715 # Actual altitude: 52.051715 # Commanded vehicle depth: 232.969839 # Seafloor depth: -282.969839 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 140 # Segment length 101.704094 meters # Minimum depth: 301.632450 meters looking forward 100.000000 meters along route # Maximum depth: 316.378372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 251.632450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789922; longitude = -121.871969; duration = 203; initialDepth = 266.271942; finalDepth = 251.632450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 251.63245 # Seafloor depth: -301.632450 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 139 # Segment length 176.584006 meters # Minimum depth: 316.271942 meters looking forward 100.000000 meters along route # Maximum depth: 343.976860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 266.271942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790287; longitude = -121.870923; duration = 353; # abortOnTimeout = True; initialDepth = 297.323936; finalDepth = 266.271942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 266.271942 # Seafloor depth: -316.271942 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 139 # Segment length 105.952579 meters # Minimum depth: 347.323936 meters looking forward 100.000000 meters along route # Maximum depth: 371.137956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 297.323936 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791789; longitude = -121.871578; duration = 211; initialDepth = 320.900720; finalDepth = 297.323936; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 297.323936 # Seafloor depth: -347.323936 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 139 # Segment length 105.952449 meters # Minimum depth: 370.900720 meters looking forward 100.000000 meters along route # Maximum depth: 385.013666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 320.900720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.871971; duration = 211; initialDepth = 335.679915; finalDepth = 320.900720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.28913 # Actual altitude: 50.28913 # Commanded vehicle depth: 320.90072 # Seafloor depth: -371.189850 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 139 # Segment length 105.952317 meters # Minimum depth: 385.679915 meters looking forward 100.000000 meters along route # Maximum depth: 398.554759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 335.679915 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793592; longitude = -121.872363; duration = 211; initialDepth = 310.261570; finalDepth = 335.679915; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.28913 # Actual altitude: 50.28913 # Commanded vehicle depth: 335.679915 # Seafloor depth: -385.679915 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 139 # Segment length 105.952187 meters # Minimum depth: 360.261570 meters looking forward 100.000000 meters along route # Maximum depth: 399.498596 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 310.261570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794493; longitude = -121.872756; duration = 211; initialDepth = 263.793039; finalDepth = 310.261570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.29192 # Actual altitude: 88.29192 # Commanded vehicle depth: 310.26157 # Seafloor depth: -398.553490 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.49; 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 139 # Segment length 105.952056 meters # Minimum depth: 313.793039 meters looking forward 100.000000 meters along route # Maximum depth: 350.136762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 263.793039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795394; longitude = -121.873149; duration = 211; initialDepth = 263.161175; finalDepth = 263.793039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.29192 # Actual altitude: 88.29192 # Commanded vehicle depth: 263.793039 # Seafloor depth: -350.136762 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.49; 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 139 # Segment length 109.539837 meters # Minimum depth: 313.161175 meters looking forward 100.000000 meters along route # Maximum depth: 320.283912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 263.161175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796295; longitude = -121.873542; duration = 219; initialDepth = 252.929849; finalDepth = 263.161175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 86.343723 # Actual altitude: 86.343723 # Commanded vehicle depth: 263.161175 # Seafloor depth: -313.731503 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.90; 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 138 # Segment length 175.337537 meters # Minimum depth: 302.929849 meters looking forward 100.000000 meters along route # Maximum depth: 319.027649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 252.929849 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797227; longitude = -121.873948; duration = 350; # abortOnTimeout = True; initialDepth = 242.480011; finalDepth = 252.929849; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0978 # Actual altitude: 66.0978 # Commanded vehicle depth: 252.929849 # Seafloor depth: -319.027649 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 138 # Segment length 100.711592 meters # Minimum depth: 292.480011 meters looking forward 100.000000 meters along route # Maximum depth: 303.539887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 242.480011 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797937; longitude = -121.872193; duration = 201; initialDepth = 237.996925; finalDepth = 242.480011; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.0978 # Actual altitude: 66.0978 # Commanded vehicle depth: 242.480011 # Seafloor depth: -303.539887 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 138 # Segment length 100.711190 meters # Minimum depth: 287.996925 meters looking forward 100.000000 meters along route # Maximum depth: 292.153650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 237.996925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798346; longitude = -121.871184; duration = 201; initialDepth = 236.645726; finalDepth = 237.996925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.059876 # Actual altitude: 61.059876 # Commanded vehicle depth: 237.996925 # Seafloor depth: -292.153650 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 138 # Segment length 105.015963 meters # Minimum depth: 286.645726 meters looking forward 100.000000 meters along route # Maximum depth: 293.981732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 236.645726 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798754; longitude = -121.870176; duration = 210; initialDepth = 240.815888; finalDepth = 236.645726; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.1567250000001 # Actual altitude: 54.1567250000001 # Commanded vehicle depth: 236.645726 # Seafloor depth: -287.523878 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.25; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 138 # Segment length 103.843229 meters # Minimum depth: 290.815888 meters looking forward 100.000000 meters along route # Maximum depth: 295.063385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 240.815888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799179; longitude = -121.869125; duration = 207; initialDepth = 240.815888; finalDepth = 240.815888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.38808 # Actual altitude: 53.38808 # Commanded vehicle depth: 240.815888 # Seafloor depth: -294.203968 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.02; 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; } # ####################################################### # # 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 137 # Segment length 78.829207 meters # Minimum depth: 290.815888 meters looking forward 100.000000 meters along route # Maximum depth: 297.257961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 240.815888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799600; longitude = -121.868085; duration = 157; # abortOnTimeout = True; initialDepth = 247.501716; finalDepth = 240.815888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.38808 # Actual altitude: 53.38808 # Commanded vehicle depth: 240.815888 # Seafloor depth: -290.817459 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 137 # Segment length 107.465969 meters # Minimum depth: 297.501716 meters looking forward 100.000000 meters along route # Maximum depth: 321.702192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 247.501716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799339; longitude = -121.867263; duration = 214; initialDepth = 274.412138; finalDepth = 247.501716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.001571 # Actual altitude: 50.001571 # Commanded vehicle depth: 247.501716 # Seafloor depth: -297.501716 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 104.156252 meters # Minimum depth: 324.412138 meters looking forward 100.000000 meters along route # Maximum depth: 335.078793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 274.412138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798983; longitude = -121.866143; duration = 208; initialDepth = 280.652260; finalDepth = 274.412138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 274.412138 # Seafloor depth: -324.412138 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 100.030344 meters # Minimum depth: 330.652260 meters looking forward 100.000000 meters along route # Maximum depth: 343.690865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.652260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798638; longitude = -121.865057; duration = 200; initialDepth = 295.517178; finalDepth = 280.652260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.374304 # Actual altitude: 52.374304 # Commanded vehicle depth: 280.65226 # Seafloor depth: -333.026564 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 107.467291 meters # Minimum depth: 345.517178 meters looking forward 100.000000 meters along route # Maximum depth: 361.947422 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 295.517178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798307; longitude = -121.864014; duration = 214; initialDepth = 314.378664; finalDepth = 295.517178; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.374304 # Actual altitude: 52.374304 # Commanded vehicle depth: 295.517178 # Seafloor depth: -345.840081 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 107.467748 meters # Minimum depth: 364.378664 meters looking forward 100.000000 meters along route # Maximum depth: 368.541934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 314.378664 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797952; longitude = -121.862894; duration = 214; initialDepth = 268.342336; finalDepth = 314.378664; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.322903 # Actual altitude: 50.322903 # Commanded vehicle depth: 314.378664 # Seafloor depth: -364.378664 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 107.468203 meters # Minimum depth: 318.342336 meters looking forward 100.000000 meters along route # Maximum depth: 366.063382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.342336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797596; longitude = -121.861774; duration = 214; initialDepth = 241.667234; finalDepth = 268.342336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 97.412341 # Actual altitude: 97.412341 # Commanded vehicle depth: 268.342336 # Seafloor depth: -365.754677 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 137 # Segment length 103.923375 meters # Minimum depth: 291.667234 meters looking forward 100.000000 meters along route # Maximum depth: 315.302648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 241.667234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797240; longitude = -121.860653; duration = 207; initialDepth = 237.919569; finalDepth = 241.667234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 97.412341 # Actual altitude: 97.412341 # Commanded vehicle depth: 241.667234 # Seafloor depth: -315.302648 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.22; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 136 # Segment length 86.425602 meters # Minimum depth: 287.919569 meters looking forward 100.000000 meters along route # Maximum depth: 291.913719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 237.919569 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796896; longitude = -121.859570; duration = 172; # abortOnTimeout = True; initialDepth = 232.500708; finalDepth = 237.919569; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.635414 # Actual altitude: 73.635414 # Commanded vehicle depth: 237.919569 # Seafloor depth: -291.913719 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.09; 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 136 # Segment length 100.278120 meters # Minimum depth: 282.500708 meters looking forward 100.000000 meters along route # Maximum depth: 287.814552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 232.500708 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797105; longitude = -121.858637; duration = 200; initialDepth = 224.651376; finalDepth = 232.500708; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.745977 # Actual altitude: 54.745977 # Commanded vehicle depth: 232.500708 # Seafloor depth: -287.246685 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 135 # Segment length 121.359558 meters # Minimum depth: 274.651376 meters looking forward 100.000000 meters along route # Maximum depth: 284.897019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 224.651376 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797347; longitude = -121.857554; duration = 242; # abortOnTimeout = True; initialDepth = 203.591031; finalDepth = 224.651376; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.682425 # Actual altitude: 58.682425 # Commanded vehicle depth: 224.651376 # Seafloor depth: -283.333801 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.60; 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 135 # Segment length 102.364126 meters # Minimum depth: 253.591031 meters looking forward 100.000000 meters along route # Maximum depth: 272.659215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 203.591031 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.856906; duration = 204; initialDepth = 180.614651; finalDepth = 203.591031; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.068184 # Actual altitude: 69.068184 # Commanded vehicle depth: 203.591031 # Seafloor depth: -272.659215 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 135 # Segment length 102.364374 meters # Minimum depth: 230.614651 meters looking forward 100.000000 meters along route # Maximum depth: 251.727785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 180.614651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795574; longitude = -121.856359; duration = 204; initialDepth = 176.225662; finalDepth = 180.614651; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.113134 # Actual altitude: 71.113134 # Commanded vehicle depth: 180.614651 # Seafloor depth: -251.727785 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.33; 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 135 # Segment length 102.364622 meters # Minimum depth: 226.225662 meters looking forward 100.000000 meters along route # Maximum depth: 229.966971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 176.225662 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794763; longitude = -121.855812; duration = 204; initialDepth = 177.102738; finalDepth = 176.225662; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.113134 # Actual altitude: 71.113134 # Commanded vehicle depth: 176.225662 # Seafloor depth: -229.966971 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.33; 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 135 # Segment length 109.923944 meters # Minimum depth: 227.102738 meters looking forward 100.000000 meters along route # Maximum depth: 229.152060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 177.102738 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.855265; duration = 219; initialDepth = 170.422861; finalDepth = 177.102738; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.741309 # Actual altitude: 53.741309 # Commanded vehicle depth: 177.102738 # Seafloor depth: -227.488980 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.12; 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 134 # Segment length 179.267788 meters # Minimum depth: 220.422861 meters looking forward 100.000000 meters along route # Maximum depth: 226.421616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 170.422861 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793081; longitude = -121.854678; duration = 358; # abortOnTimeout = True; initialDepth = 165.015496; finalDepth = 170.422861; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.998755 # Actual altitude: 55.998755 # Commanded vehicle depth: 170.422861 # Seafloor depth: -226.421616 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.80; 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 134 # Segment length 107.581086 meters # Minimum depth: 215.015496 meters looking forward 100.000000 meters along route # Maximum depth: 220.187506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.015496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792484; longitude = -121.852811; duration = 215; initialDepth = 151.904599; finalDepth = 165.015496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.998755 # Actual altitude: 55.998755 # Commanded vehicle depth: 165.015496 # Seafloor depth: -220.187506 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.80; 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 134 # Segment length 107.581544 meters # Minimum depth: 201.904599 meters looking forward 100.000000 meters along route # Maximum depth: 213.958152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 151.904599 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792125; longitude = -121.851691; duration = 215; initialDepth = 144.665411; finalDepth = 151.904599; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.053553 # Actual altitude: 62.053553 # Commanded vehicle depth: 151.904599 # Seafloor depth: -213.958152 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.62; 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 134 # Segment length 107.582004 meters # Minimum depth: 194.665411 meters looking forward 100.000000 meters along route # Maximum depth: 200.954227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 144.665411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791767; longitude = -121.850571; duration = 215; initialDepth = 144.452153; finalDepth = 144.665411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.053553 # Actual altitude: 62.053553 # Commanded vehicle depth: 144.665411 # Seafloor depth: -200.954227 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.62; 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 134 # Segment length 107.582463 meters # Minimum depth: 194.452153 meters looking forward 100.000000 meters along route # Maximum depth: 202.484025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 144.452153 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791409; longitude = -121.849450; duration = 215; initialDepth = 137.734438; finalDepth = 144.452153; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.288816 # Actual altitude: 56.288816 # Commanded vehicle depth: 144.452153 # Seafloor depth: -197.875614 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.89; 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 134 # Segment length 107.582922 meters # Minimum depth: 187.734438 meters looking forward 100.000000 meters along route # Maximum depth: 194.666434 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 137.734438 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791050; longitude = -121.848330; duration = 215; initialDepth = 137.654354; finalDepth = 137.734438; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.931996 # Actual altitude: 56.931996 # Commanded vehicle depth: 137.734438 # Seafloor depth: -194.666434 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.08; 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 134 # Segment length 107.583381 meters # Minimum depth: 187.654354 meters looking forward 100.000000 meters along route # Maximum depth: 192.973318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 137.654354 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790692; longitude = -121.847210; duration = 215; initialDepth = 139.758041; finalDepth = 137.654354; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.931996 # Actual altitude: 56.931996 # Commanded vehicle depth: 137.654354 # Seafloor depth: -187.654354 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.08; 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 134 # Segment length 104.187286 meters # Minimum depth: 189.758041 meters looking forward 100.000000 meters along route # Maximum depth: 191.892212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 139.758041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790334; longitude = -121.846089; duration = 208; initialDepth = 141.780007; finalDepth = 139.758041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.635785 # Actual altitude: 50.635785 # Commanded vehicle depth: 139.758041 # Seafloor depth: -190.393826 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 100.222403 meters # Minimum depth: 191.780007 meters looking forward 100.000000 meters along route # Maximum depth: 195.694457 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 141.780007 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789987; longitude = -121.845004; duration = 200; initialDepth = 138.794017; finalDepth = 141.780007; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.791123 # Actual altitude: 50.791123 # Commanded vehicle depth: 141.780007 # Seafloor depth: -192.571130 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.584713 meters # Minimum depth: 188.794017 meters looking forward 100.000000 meters along route # Maximum depth: 193.893649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 138.794017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789653; longitude = -121.843961; duration = 215; initialDepth = 145.890554; finalDepth = 138.794017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.099632 # Actual altitude: 55.099632 # Commanded vehicle depth: 138.794017 # Seafloor depth: -193.893649 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.585172 meters # Minimum depth: 195.890554 meters looking forward 100.000000 meters along route # Maximum depth: 201.132648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 145.890554 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789294; longitude = -121.842840; duration = 215; initialDepth = 138.805574; finalDepth = 145.890554; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.099632 # Actual altitude: 55.099632 # Commanded vehicle depth: 145.890554 # Seafloor depth: -195.890554 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.585631 meters # Minimum depth: 188.805574 meters looking forward 100.000000 meters along route # Maximum depth: 199.317718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 138.805574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788936; longitude = -121.841720; duration = 215; initialDepth = 135.519146; finalDepth = 138.805574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.512144 # Actual altitude: 60.512144 # Commanded vehicle depth: 138.805574 # Seafloor depth: -199.317718 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.586090 meters # Minimum depth: 185.519146 meters looking forward 100.000000 meters along route # Maximum depth: 190.733658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 135.519146 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788578; longitude = -121.840600; duration = 215; initialDepth = 125.062355; finalDepth = 135.519146; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.512144 # Actual altitude: 60.512144 # Commanded vehicle depth: 135.519146 # Seafloor depth: -189.803279 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.15; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 107.586550 meters # Minimum depth: 175.062355 meters looking forward 100.000000 meters along route # Maximum depth: 183.408961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 125.062355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788219; longitude = -121.839479; duration = 215; initialDepth = 105.549513; finalDepth = 125.062355; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.697622 # Actual altitude: 56.697622 # Commanded vehicle depth: 125.062355 # Seafloor depth: -181.759977 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.01; 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 134 # Segment length 107.587009 meters # Minimum depth: 155.549513 meters looking forward 100.000000 meters along route # Maximum depth: 172.946733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 105.549513 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787861; longitude = -121.838359; duration = 215; initialDepth = 79.684458; finalDepth = 105.549513; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.39722 # Actual altitude: 67.39722 # Commanded vehicle depth: 105.549513 # Seafloor depth: -172.946733 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.22; 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 134 # Segment length 107.587468 meters # Minimum depth: 129.684458 meters looking forward 100.000000 meters along route # Maximum depth: 152.323063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 79.684458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787502; longitude = -121.837239; duration = 215; initialDepth = 83.286694; finalDepth = 79.684458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.638605 # Actual altitude: 72.638605 # Commanded vehicle depth: 79.684458 # Seafloor depth: -152.323063 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.79; 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 134 # Segment length 107.587928 meters # Minimum depth: 133.286694 meters looking forward 100.000000 meters along route # Maximum depth: 142.987139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 83.286694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787144; longitude = -121.836118; duration = 215; initialDepth = 65.146250; finalDepth = 83.286694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.638605 # Actual altitude: 72.638605 # Commanded vehicle depth: 83.286694 # Seafloor depth: -133.286694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.79; 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 134 # Segment length 107.588387 meters # Minimum depth: 115.146250 meters looking forward 100.000000 meters along route # Maximum depth: 138.282603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.146250 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786786; longitude = -121.834998; duration = 215; initialDepth = 64.363983; finalDepth = 65.146250; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.136353 # Actual altitude: 73.136353 # Commanded vehicle depth: 65.14625 # Seafloor depth: -138.282603 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 134 # Segment length 103.988844 meters # Minimum depth: 114.363983 meters looking forward 100.000000 meters along route # Maximum depth: 135.456381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 64.363983 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786427; longitude = -121.833878; duration = 207; initialDepth = 85.763073; finalDepth = 64.363983; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.136353 # Actual altitude: 73.136353 # Commanded vehicle depth: 64.363983 # Seafloor depth: -114.363983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 133 # Segment length 126.761480 meters # Minimum depth: 135.763073 meters looking forward 100.000000 meters along route # Maximum depth: 153.120254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.763073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786081; longitude = -121.832795; duration = 253; # abortOnTimeout = True; initialDepth = 103.601446; finalDepth = 85.763073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 85.763073 # Seafloor depth: -135.763073 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 133 # Segment length 103.501689 meters # Minimum depth: 153.601446 meters looking forward 100.000000 meters along route # Maximum depth: 159.072241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 103.601446 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786346; longitude = -121.831413; duration = 207; initialDepth = 109.205307; finalDepth = 103.601446; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 103.601446 # Seafloor depth: -153.601446 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 133 # Segment length 102.035454 meters # Minimum depth: 159.205307 meters looking forward 100.000000 meters along route # Maximum depth: 165.749135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.205307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786562; longitude = -121.830285; duration = 204; initialDepth = 108.457379; finalDepth = 109.205307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 109.205307 # Seafloor depth: -159.205307 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 133 # Segment length 102.768205 meters # Minimum depth: 158.457379 meters looking forward 100.000000 meters along route # Maximum depth: 164.854477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 108.457379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786775; longitude = -121.829173; duration = 205; initialDepth = 86.438561; finalDepth = 108.457379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.522698 # Actual altitude: 54.522698 # Commanded vehicle depth: 108.457379 # Seafloor depth: -162.980077 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 133 # Segment length 102.767960 meters # Minimum depth: 136.438561 meters looking forward 100.000000 meters along route # Maximum depth: 160.024370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 86.438561 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786990; longitude = -121.828052; duration = 205; initialDepth = 74.750705; finalDepth = 86.438561; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.585809 # Actual altitude: 73.585809 # Commanded vehicle depth: 86.438561 # Seafloor depth: -160.024370 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.08; 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 133 # Segment length 109.607222 meters # Minimum depth: 124.750705 meters looking forward 100.000000 meters along route # Maximum depth: 135.091931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.750705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787204; longitude = -121.826932; duration = 219; initialDepth = 65.303249; finalDepth = 74.750705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.585809 # Actual altitude: 73.585809 # Commanded vehicle depth: 74.750705 # Seafloor depth: -133.432377 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.08; 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 132 # Segment length 129.709427 meters # Minimum depth: 115.303249 meters looking forward 100.000000 meters along route # Maximum depth: 128.800666 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.303249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787433; longitude = -121.825737; duration = 259; # abortOnTimeout = True; initialDepth = 60.000966; finalDepth = 65.303249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.898608 # Actual altitude: 58.898608 # Commanded vehicle depth: 65.303249 # Seafloor depth: -124.201857 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.67; 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 132 # Segment length 100.415851 meters # Minimum depth: 110.000966 meters looking forward 100.000000 meters along route # Maximum depth: 115.184567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 60.000966 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788364; longitude = -121.824858; duration = 200; initialDepth = 59.472496; finalDepth = 60.000966; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.898608 # Actual altitude: 58.898608 # Commanded vehicle depth: 60.000966 # Seafloor depth: -115.184567 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.67; 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 132 # Segment length 100.415530 meters # Minimum depth: 109.472496 meters looking forward 100.000000 meters along route # Maximum depth: 138.902940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 59.472496 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789085; longitude = -121.824178; duration = 200; initialDepth = 61.616690; finalDepth = 59.472496; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.183601 # Actual altitude: 55.183601 # Commanded vehicle depth: 59.472496 # Seafloor depth: -109.472496 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 100.415209 meters # Minimum depth: 111.616690 meters looking forward 100.000000 meters along route # Maximum depth: 139.244263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.616690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789806; longitude = -121.823498; duration = 200; initialDepth = 61.919886; finalDepth = 61.616690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.627573 # Actual altitude: 77.627573 # Commanded vehicle depth: 61.61669 # Seafloor depth: -139.244263 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.29; 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 132 # Segment length 100.414888 meters # Minimum depth: 111.919886 meters looking forward 100.000000 meters along route # Maximum depth: 130.121075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.919886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.822817; duration = 200; initialDepth = 69.056305; finalDepth = 61.919886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.627573 # Actual altitude: 77.627573 # Commanded vehicle depth: 61.919886 # Seafloor depth: -111.919886 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.29; 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 132 # Segment length 100.414569 meters # Minimum depth: 119.056305 meters looking forward 100.000000 meters along route # Maximum depth: 131.605378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 69.056305 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.822137; duration = 200; initialDepth = 69.398714; finalDepth = 69.056305; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.314386 # Actual altitude: 62.314386 # Commanded vehicle depth: 69.056305 # Seafloor depth: -131.370691 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 100.414247 meters # Minimum depth: 119.398714 meters looking forward 100.000000 meters along route # Maximum depth: 124.414670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 69.398714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791969; longitude = -121.821457; duration = 200; initialDepth = 74.696535; finalDepth = 69.398714; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.314386 # Actual altitude: 62.314386 # Commanded vehicle depth: 69.398714 # Seafloor depth: -120.576387 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 132 # Segment length 100.413927 meters # Minimum depth: 124.696535 meters looking forward 100.000000 meters along route # Maximum depth: 128.101405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.696535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.820777; duration = 200; initialDepth = 68.784369; finalDepth = 74.696535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.177673 # Actual altitude: 51.177673 # Commanded vehicle depth: 74.696535 # Seafloor depth: -124.858713 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 132 # Segment length 104.555327 meters # Minimum depth: 118.784369 meters looking forward 100.000000 meters along route # Maximum depth: 124.666859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 68.784369 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793411; longitude = -121.820096; duration = 209; initialDepth = 68.254330; finalDepth = 68.784369; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.88249 # Actual altitude: 55.88249 # Commanded vehicle depth: 68.784369 # Seafloor depth: -124.666859 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.76; 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 131 # Segment length 167.649847 meters # Minimum depth: 118.254330 meters looking forward 100.000000 meters along route # Maximum depth: 142.199148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 68.254330 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794162; longitude = -121.819388; duration = 335; # abortOnTimeout = True; initialDepth = 85.082655; finalDepth = 68.254330; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.88249 # Actual altitude: 55.88249 # Commanded vehicle depth: 68.25433 # Seafloor depth: -118.254330 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.76; 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 131 # Segment length 100.569640 meters # Minimum depth: 135.082655 meters looking forward 100.000000 meters along route # Maximum depth: 142.851635 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.082655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795664; longitude = -121.819186; duration = 201; initialDepth = 87.936470; finalDepth = 85.082655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.065963 # Actual altitude: 57.065963 # Commanded vehicle depth: 85.082655 # Seafloor depth: -142.148618 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.12; 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 131 # Segment length 103.933751 meters # Minimum depth: 137.936470 meters looking forward 100.000000 meters along route # Maximum depth: 149.218820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 87.936470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796566; longitude = -121.819065; duration = 207; initialDepth = 95.878914; finalDepth = 87.936470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 57.065963 # Actual altitude: 57.065963 # Commanded vehicle depth: 87.93647 # Seafloor depth: -137.936470 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 130 # Segment length 123.510048 meters # Minimum depth: 145.878914 meters looking forward 100.000000 meters along route # Maximum depth: 159.694461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 95.878914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797497; longitude = -121.818940; duration = 247; # abortOnTimeout = True; initialDepth = 109.841140; finalDepth = 95.878914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 95.878914 # Seafloor depth: -145.878914 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 130 # Segment length 106.820985 meters # Minimum depth: 159.841140 meters looking forward 100.000000 meters along route # Maximum depth: 181.151290 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.841140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797917; longitude = -121.820222; duration = 213; initialDepth = 131.583984; finalDepth = 109.841140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 109.84114 # Seafloor depth: -159.841140 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 130 # Segment length 107.953605 meters # Minimum depth: 181.583984 meters looking forward 100.000000 meters along route # Maximum depth: 199.014657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 131.583984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798281; longitude = -121.821330; duration = 215; initialDepth = 96.404431; finalDepth = 131.583984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 131.583984 # Seafloor depth: -181.583984 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 130 # Segment length 102.899635 meters # Minimum depth: 146.404431 meters looking forward 100.000000 meters along route # Maximum depth: 199.055710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 96.404431 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798649; longitude = -121.822451; duration = 205; initialDepth = 60.785819; finalDepth = 96.404431; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.651279 # Actual altitude: 100 # Commanded vehicle depth: 96.404431 # Seafloor depth: -199.055710 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 130 # Segment length 102.210919 meters # Minimum depth: 110.785819 meters looking forward 100.000000 meters along route # Maximum depth: 144.104954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 60.785819 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798999; longitude = -121.823518; duration = 204; initialDepth = 3.000000; finalDepth = 60.785819; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 102.651279 # Actual altitude: 100 # Commanded vehicle depth: 60.785819 # Seafloor depth: -144.104954 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 130 # Segment length 100.770731 meters # Minimum depth: 50.305244 meters looking forward 100.000000 meters along route # Maximum depth: 104.456067 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799347; longitude = -121.824579; duration = 201; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 101.456067 # Actual altitude: 100 # Commanded vehicle depth: 3 # Seafloor depth: -104.456067 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 129 # Segment length 76.973515 meters # Minimum depth: 49.932264 meters looking forward 100.000000 meters along route # Maximum depth: 54.614673 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799690; longitude = -121.825625; duration = 153; # abortOnTimeout = True; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 101.456067 # Actual altitude: 100 # Commanded vehicle depth: 3 # Seafloor depth: -49.932264 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 129 # Segment length 100.387743 meters # Minimum depth: 52.994608 meters looking forward 100.000000 meters along route # Maximum depth: 68.489741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798999; longitude = -121.825702; duration = 200; initialDepth = 16.908720; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 49.994608 # Actual altitude: 49.994608 # Commanded vehicle depth: 3 # Seafloor depth: -52.994608 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 129 # Segment length 100.387736 meters # Minimum depth: 66.908720 meters looking forward 100.000000 meters along route # Maximum depth: 77.494989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 16.908720 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798098; longitude = -121.825802; duration = 200; initialDepth = 29.562236; finalDepth = 16.908720; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.03254 # Actual altitude: 51.03254 # Commanded vehicle depth: 16.90872 # Seafloor depth: -67.941260 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.31; 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 129 # Segment length 100.387728 meters # Minimum depth: 79.562236 meters looking forward 100.000000 meters along route # Maximum depth: 91.092110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.562236 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.825903; duration = 200; initialDepth = 42.187565; finalDepth = 29.562236; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.03254 # Actual altitude: 51.03254 # Commanded vehicle depth: 29.562236 # Seafloor depth: -79.562236 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.31; 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 129 # Segment length 107.070885 meters # Minimum depth: 92.187565 meters looking forward 100.000000 meters along route # Maximum depth: 113.808729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.187565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796295; longitude = -121.826003; duration = 214; initialDepth = 65.481411; finalDepth = 42.187565; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 42.187565 # Seafloor depth: -92.187565 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 128 # Segment length 162.218641 meters # Minimum depth: 115.481411 meters looking forward 100.000000 meters along route # Maximum depth: 134.650173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.481411 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795334; longitude = -121.826110; duration = 324; # abortOnTimeout = True; initialDepth = 84.045675; finalDepth = 65.481411; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 65.481411 # Seafloor depth: -115.481411 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 128 # Segment length 109.626698 meters # Minimum depth: 134.045675 meters looking forward 100.000000 meters along route # Maximum depth: 141.284564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 84.045675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794384; longitude = -121.827492; duration = 219; initialDepth = 92.030373; finalDepth = 84.045675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 84.045675 # Seafloor depth: -134.045675 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 127 # Segment length 147.577263 meters # Minimum depth: 142.030373 meters looking forward 100.000000 meters along route # Maximum depth: 158.340571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 92.030373 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793742; longitude = -121.828426; duration = 295; # abortOnTimeout = True; initialDepth = 94.731666; finalDepth = 92.030373; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 92.030373 # Seafloor depth: -142.030373 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 126 # Segment length 115.831927 meters # Minimum depth: 144.731666 meters looking forward 100.000000 meters along route # Maximum depth: 158.668129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.731666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793111; longitude = -121.829882; duration = 231; # abortOnTimeout = True; initialDepth = 95.436025; finalDepth = 94.731666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.936463 # Actual altitude: 63.936463 # Commanded vehicle depth: 94.731666 # Seafloor depth: -158.668129 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 126 # Segment length 106.961010 meters # Minimum depth: 145.436025 meters looking forward 100.000000 meters along route # Maximum depth: 151.911316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 95.436025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.831086; duration = 213; initialDepth = 101.232361; finalDepth = 95.436025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.936463 # Actual altitude: 63.936463 # Commanded vehicle depth: 95.436025 # Seafloor depth: -145.436025 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.741426 meters # Minimum depth: 151.232361 meters looking forward 100.000000 meters along route # Maximum depth: 173.325674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 101.232361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793862; longitude = -121.832198; duration = 215; initialDepth = 123.519892; finalDepth = 101.232361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.589427 # Actual altitude: 50.589427 # Commanded vehicle depth: 101.232361 # Seafloor depth: -151.821788 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.780798 meters # Minimum depth: 173.519892 meters looking forward 100.000000 meters along route # Maximum depth: 184.730850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 123.519892 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794225; longitude = -121.833318; duration = 215; initialDepth = 127.793634; finalDepth = 123.519892; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.589427 # Actual altitude: 50.589427 # Commanded vehicle depth: 123.519892 # Seafloor depth: -173.519892 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.780332 meters # Minimum depth: 177.793634 meters looking forward 100.000000 meters along route # Maximum depth: 179.876411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 127.793634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794588; longitude = -121.834438; duration = 215; initialDepth = 127.870287; finalDepth = 127.793634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.594809 # Actual altitude: 51.594809 # Commanded vehicle depth: 127.793634 # Seafloor depth: -179.388443 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.48; 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 126 # Segment length 107.779869 meters # Minimum depth: 177.870287 meters looking forward 100.000000 meters along route # Maximum depth: 190.926117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 127.870287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794952; longitude = -121.835558; duration = 215; initialDepth = 141.358987; finalDepth = 127.870287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.594809 # Actual altitude: 51.594809 # Commanded vehicle depth: 127.870287 # Seafloor depth: -177.870287 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.48; 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 126 # Segment length 107.779403 meters # Minimum depth: 191.358987 meters looking forward 100.000000 meters along route # Maximum depth: 207.180690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 141.358987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795315; longitude = -121.836679; duration = 215; initialDepth = 156.182390; finalDepth = 141.358987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 141.358987 # Seafloor depth: -191.358987 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.778939 meters # Minimum depth: 206.182390 meters looking forward 100.000000 meters along route # Maximum depth: 212.193851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 156.182390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795678; longitude = -121.837799; duration = 215; initialDepth = 160.768790; finalDepth = 156.182390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.132561 # Actual altitude: 51.132561 # Commanded vehicle depth: 156.18239 # Seafloor depth: -207.314951 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.778475 meters # Minimum depth: 210.768790 meters looking forward 100.000000 meters along route # Maximum depth: 215.931663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 160.768790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796041; longitude = -121.838919; duration = 215; initialDepth = 153.394784; finalDepth = 160.768790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.132561 # Actual altitude: 51.132561 # Commanded vehicle depth: 160.76879 # Seafloor depth: -210.768790 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.778010 meters # Minimum depth: 203.394784 meters looking forward 100.000000 meters along route # Maximum depth: 212.849858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 153.394784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796405; longitude = -121.840040; duration = 215; initialDepth = 150.477660; finalDepth = 153.394784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.455074 # Actual altitude: 59.455074 # Commanded vehicle depth: 153.394784 # Seafloor depth: -212.849858 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.777546 meters # Minimum depth: 200.477660 meters looking forward 100.000000 meters along route # Maximum depth: 202.584299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 150.477660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796768; longitude = -121.841160; duration = 215; initialDepth = 151.765570; finalDepth = 150.477660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.455074 # Actual altitude: 59.455074 # Commanded vehicle depth: 150.47766 # Seafloor depth: -202.584299 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 126 # Segment length 107.777081 meters # Minimum depth: 201.765570 meters looking forward 100.000000 meters along route # Maximum depth: 211.079170 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 151.765570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797131; longitude = -121.842280; duration = 215; initialDepth = 162.949174; finalDepth = 151.765570; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.106639 # Actual altitude: 52.106639 # Commanded vehicle depth: 151.76557 # Seafloor depth: -201.765570 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 126 # Segment length 104.619176 meters # Minimum depth: 212.949174 meters looking forward 100.000000 meters along route # Maximum depth: 222.931529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 162.949174 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797494; longitude = -121.843401; duration = 209; initialDepth = 171.365261; finalDepth = 162.949174; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 162.949174 # Seafloor depth: -212.949174 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 125 # Segment length 164.545722 meters # Minimum depth: 221.365261 meters looking forward 100.000000 meters along route # Maximum depth: 232.194692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 171.365261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797847; longitude = -121.844488; duration = 329; # abortOnTimeout = True; initialDepth = 180.016423; finalDepth = 171.365261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 171.365261 # Seafloor depth: -221.365261 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 125 # Segment length 101.458475 meters # Minimum depth: 230.016423 meters looking forward 100.000000 meters along route # Maximum depth: 235.982718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 180.016423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.844801; duration = 202; initialDepth = 188.290425; finalDepth = 180.016423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.016423 # Seafloor depth: -230.016423 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.458490 meters # Minimum depth: 238.290425 meters looking forward 100.000000 meters along route # Maximum depth: 285.343772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 188.290425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795484; longitude = -121.844994; duration = 202; initialDepth = 235.977213; finalDepth = 188.290425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 188.290425 # Seafloor depth: -238.290425 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.458506 meters # Minimum depth: 285.977213 meters looking forward 100.000000 meters along route # Maximum depth: 290.908288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 235.977213 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794583; longitude = -121.845187; duration = 202; initialDepth = 239.941309; finalDepth = 235.977213; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 235.977213 # Seafloor depth: -285.977213 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.458520 meters # Minimum depth: 289.941309 meters looking forward 100.000000 meters along route # Maximum depth: 291.546627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 239.941309 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793682; longitude = -121.845380; duration = 202; initialDepth = 198.697134; finalDepth = 239.941309; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.278901 # Actual altitude: 51.278901 # Commanded vehicle depth: 239.941309 # Seafloor depth: -291.220210 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 125 # Segment length 101.458536 meters # Minimum depth: 248.697134 meters looking forward 100.000000 meters along route # Maximum depth: 288.897763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 198.697134 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792780; longitude = -121.845573; duration = 202; initialDepth = 170.397012; finalDepth = 198.697134; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.200629 # Actual altitude: 90.200629 # Commanded vehicle depth: 198.697134 # Seafloor depth: -288.897763 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.458551 meters # Minimum depth: 220.397012 meters looking forward 100.000000 meters along route # Maximum depth: 245.045887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 170.397012 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791879; longitude = -121.845766; duration = 202; initialDepth = 133.727884; finalDepth = 170.397012; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.200629 # Actual altitude: 90.200629 # Commanded vehicle depth: 170.397012 # Seafloor depth: -245.045887 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 125 # Segment length 101.458566 meters # Minimum depth: 183.727884 meters looking forward 100.000000 meters along route # Maximum depth: 217.484803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 133.727884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790978; longitude = -121.845959; duration = 202; initialDepth = 105.240577; finalDepth = 133.727884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.756919 # Actual altitude: 83.756919 # Commanded vehicle depth: 133.727884 # Seafloor depth: -217.484803 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.13; 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 125 # Segment length 104.884977 meters # Minimum depth: 155.240577 meters looking forward 100.000000 meters along route # Maximum depth: 179.798071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 105.240577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790077; longitude = -121.846152; duration = 209; initialDepth = 104.867504; finalDepth = 105.240577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 83.756919 # Actual altitude: 83.756919 # Commanded vehicle depth: 105.240577 # Seafloor depth: -179.798071 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 124 # Segment length 82.047299 meters # Minimum depth: 154.867504 meters looking forward 100.000000 meters along route # Maximum depth: 165.622711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.867504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789145; longitude = -121.846351; duration = 164; # abortOnTimeout = True; initialDepth = 117.738740; finalDepth = 104.867504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.557494 # Actual altitude: 74.557494 # Commanded vehicle depth: 104.867504 # Seafloor depth: -154.867504 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 124 # Segment length 107.059102 meters # Minimum depth: 167.738740 meters looking forward 100.000000 meters along route # Maximum depth: 181.220768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 117.738740 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789410; longitude = -121.847210; duration = 214; initialDepth = 132.263395; finalDepth = 117.738740; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 117.73874 # Seafloor depth: -167.738740 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 107.058656 meters # Minimum depth: 182.263395 meters looking forward 100.000000 meters along route # Maximum depth: 188.145321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 132.263395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789755; longitude = -121.848330; duration = 214; initialDepth = 139.070018; finalDepth = 132.263395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 132.263395 # Seafloor depth: -182.263395 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 104.409200 meters # Minimum depth: 189.070018 meters looking forward 100.000000 meters along route # Maximum depth: 194.941285 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 139.070018 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790100; longitude = -121.849450; duration = 208; initialDepth = 146.528062; finalDepth = 139.070018; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 139.070018 # Seafloor depth: -189.070018 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 124 # Segment length 102.555335 meters # Minimum depth: 196.528062 meters looking forward 100.000000 meters along route # Maximum depth: 203.991923 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 146.528062 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.850543; duration = 205; initialDepth = 154.186005; finalDepth = 146.528062; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 146.528062 # Seafloor depth: -196.528062 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 123 # Segment length 163.695074 meters # Minimum depth: 204.186005 meters looking forward 100.000000 meters along route # Maximum depth: 214.448135 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 154.186005 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790768; longitude = -121.851616; duration = 327; # abortOnTimeout = True; initialDepth = 155.286590; finalDepth = 154.186005; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 154.186005 # Seafloor depth: -204.186005 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 123 # Segment length 100.246786 meters # Minimum depth: 205.286590 meters looking forward 100.000000 meters along route # Maximum depth: 211.775655 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 155.286590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792240; longitude = -121.851484; duration = 200; initialDepth = 154.876009; finalDepth = 155.286590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.489065 # Actual altitude: 56.489065 # Commanded vehicle depth: 155.28659 # Seafloor depth: -211.775655 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.95; 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 123 # Segment length 100.246797 meters # Minimum depth: 204.876009 meters looking forward 100.000000 meters along route # Maximum depth: 219.584469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 154.876009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.851403; duration = 200; initialDepth = 176.184817; finalDepth = 154.876009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.489065 # Actual altitude: 56.489065 # Commanded vehicle depth: 154.876009 # Seafloor depth: -205.838612 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.95; 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 123 # Segment length 100.246808 meters # Minimum depth: 226.184817 meters looking forward 100.000000 meters along route # Maximum depth: 290.237003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 176.184817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.851322; duration = 200; initialDepth = 241.363251; finalDepth = 176.184817; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.962603 # Actual altitude: 50.962603 # Commanded vehicle depth: 176.184817 # Seafloor depth: -226.184817 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.29; 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 123 # Segment length 100.246818 meters # Minimum depth: 291.363251 meters looking forward 100.000000 meters along route # Maximum depth: 312.693715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 241.363251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794943; longitude = -121.851242; duration = 200; initialDepth = 255.987711; finalDepth = 241.363251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 241.363251 # Seafloor depth: -291.363251 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 123 # Segment length 100.246829 meters # Minimum depth: 305.987711 meters looking forward 100.000000 meters along route # Maximum depth: 313.863033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.987711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.851161; duration = 200; initialDepth = 228.794091; finalDepth = 255.987711; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.875322 # Actual altitude: 57.875322 # Commanded vehicle depth: 255.987711 # Seafloor depth: -313.863033 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.36; 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 123 # Segment length 100.246839 meters # Minimum depth: 278.794091 meters looking forward 100.000000 meters along route # Maximum depth: 303.865748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 228.794091 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.851080; duration = 200; initialDepth = 219.996903; finalDepth = 228.794091; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.071657 # Actual altitude: 75.071657 # Commanded vehicle depth: 228.794091 # Seafloor depth: -303.865748 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.52; 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 123 # Segment length 100.246850 meters # Minimum depth: 269.996903 meters looking forward 100.000000 meters along route # Maximum depth: 275.872828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 219.996903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797647; longitude = -121.850999; duration = 200; initialDepth = 216.477239; finalDepth = 219.996903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 75.071657 # Actual altitude: 75.071657 # Commanded vehicle depth: 219.996903 # Seafloor depth: -274.891183 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.52; 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 123 # Segment length 106.967151 meters # Minimum depth: 266.477239 meters looking forward 100.000000 meters along route # Maximum depth: 271.309464 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 216.477239 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.850918; duration = 213; initialDepth = 208.716564; finalDepth = 216.477239; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.89428 # Actual altitude: 54.89428 # Commanded vehicle depth: 216.477239 # Seafloor depth: -268.172286 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.47; 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 122 # Segment length 138.838315 meters # Minimum depth: 258.716564 meters looking forward 100.000000 meters along route # Maximum depth: 267.018448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 208.716564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799510; longitude = -121.850832; duration = 277; # abortOnTimeout = True; initialDepth = 209.916573; finalDepth = 208.716564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 58.301884 # Actual altitude: 58.301884 # Commanded vehicle depth: 208.716564 # Seafloor depth: -267.018448 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; 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; } # ####################################################### # # 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 121 # Segment length 175.876178 meters # Minimum depth: 259.916573 meters looking forward 100.000000 meters along route # Maximum depth: 288.831890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 209.916573 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800591; longitude = -121.851616; duration = 351; # abortOnTimeout = True; initialDepth = 241.821033; finalDepth = 209.916573; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.301884 # Actual altitude: 58.301884 # Commanded vehicle depth: 209.916573 # Seafloor depth: -259.916573 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; 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 121 # Segment length 101.027215 meters # Minimum depth: 291.821033 meters looking forward 100.000000 meters along route # Maximum depth: 322.469058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 241.821033 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799870; longitude = -121.853371; duration = 202; initialDepth = 272.287978; finalDepth = 241.821033; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 241.821033 # Seafloor depth: -291.821033 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 121 # Segment length 101.027621 meters # Minimum depth: 322.287978 meters looking forward 100.000000 meters along route # Maximum depth: 328.092903 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 272.287978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799455; longitude = -121.854380; duration = 202; initialDepth = 229.667399; finalDepth = 272.287978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 272.287978 # Seafloor depth: -322.287978 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 121 # Segment length 101.028029 meters # Minimum depth: 279.667399 meters looking forward 100.000000 meters along route # Maximum depth: 324.650891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 229.667399 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799041; longitude = -121.855388; duration = 202; initialDepth = 229.392066; finalDepth = 229.667399; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.983492 # Actual altitude: 94.983492 # Commanded vehicle depth: 229.667399 # Seafloor depth: -324.650891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.50; 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 121 # Segment length 106.900851 meters # Minimum depth: 279.392066 meters looking forward 100.000000 meters along route # Maximum depth: 287.823010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 229.392066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798626; longitude = -121.856396; duration = 213; initialDepth = 237.912463; finalDepth = 229.392066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.983492 # Actual altitude: 94.983492 # Commanded vehicle depth: 229.392066 # Seafloor depth: -279.392066 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.50; 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 121 # Segment length 102.598515 meters # Minimum depth: 287.912463 meters looking forward 100.000000 meters along route # Maximum depth: 292.940343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 237.912463 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798188; longitude = -121.857463; duration = 205; initialDepth = 242.652539; finalDepth = 237.912463; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 237.912463 # Seafloor depth: -287.912463 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 120 # Segment length 76.904286 meters # Minimum depth: 292.652539 meters looking forward 100.000000 meters along route # Maximum depth: 306.732031 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 242.652539 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797767; longitude = -121.858487; duration = 153; # abortOnTimeout = True; initialDepth = 259.629710; finalDepth = 242.652539; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.325603 # Actual altitude: 50.325603 # Commanded vehicle depth: 242.652539 # Seafloor depth: -292.978142 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 120 # Segment length 100.271246 meters # Minimum depth: 309.629710 meters looking forward 100.000000 meters along route # Maximum depth: 322.024216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 259.629710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798458; longitude = -121.858552; duration = 200; initialDepth = 260.688818; finalDepth = 259.629710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.325603 # Actual altitude: 50.325603 # Commanded vehicle depth: 259.62971 # Seafloor depth: -309.629710 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.10; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.271252 meters # Minimum depth: 310.688818 meters looking forward 100.000000 meters along route # Maximum depth: 321.455319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 260.688818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799359; longitude = -121.858636; duration = 200; initialDepth = 258.255877; finalDepth = 260.688818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.320554 # Actual altitude: 60.320554 # Commanded vehicle depth: 260.688818 # Seafloor depth: -321.009372 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.10; 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 120 # Segment length 100.271259 meters # Minimum depth: 308.255877 meters looking forward 100.000000 meters along route # Maximum depth: 314.925651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 258.255877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800261; longitude = -121.858721; duration = 200; initialDepth = 263.748805; finalDepth = 258.255877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.320554 # Actual altitude: 60.320554 # Commanded vehicle depth: 258.255877 # Seafloor depth: -310.332306 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.10; 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 120 # Segment length 100.271264 meters # Minimum depth: 313.748805 meters looking forward 100.000000 meters along route # Maximum depth: 330.950965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 263.748805 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801162; longitude = -121.858806; duration = 200; initialDepth = 281.266420; finalDepth = 263.748805; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.076429 # Actual altitude: 52.076429 # Commanded vehicle depth: 263.748805 # Seafloor depth: -313.748805 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.271271 meters # Minimum depth: 331.266420 meters looking forward 100.000000 meters along route # Maximum depth: 346.592558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 281.266420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802063; longitude = -121.858890; duration = 200; initialDepth = 280.667335; finalDepth = 281.266420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 281.26642 # Seafloor depth: -331.266420 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 120 # Segment length 100.271278 meters # Minimum depth: 330.667335 meters looking forward 100.000000 meters along route # Maximum depth: 346.948834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.667335 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802964; longitude = -121.858975; duration = 200; initialDepth = 239.472441; finalDepth = 280.667335; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.048765 # Actual altitude: 66.048765 # Commanded vehicle depth: 280.667335 # Seafloor depth: -346.716100 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.81; 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 120 # Segment length 100.271283 meters # Minimum depth: 289.472441 meters looking forward 100.000000 meters along route # Maximum depth: 324.063022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 239.472441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803866; longitude = -121.859059; duration = 200; initialDepth = 216.326675; finalDepth = 239.472441; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.590581 # Actual altitude: 84.590581 # Commanded vehicle depth: 239.472441 # Seafloor depth: -324.063022 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.38; 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 106.930619 meters # Minimum depth: 266.326675 meters looking forward 100.000000 meters along route # Maximum depth: 287.322645 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 216.326675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804767; longitude = -121.859144; duration = 213; initialDepth = 213.704434; finalDepth = 216.326675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 84.590581 # Actual altitude: 84.590581 # Commanded vehicle depth: 216.326675 # Seafloor depth: -287.322645 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.38; 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; } # ####################################################### # # 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 92.269332 meters # Minimum depth: 263.704434 meters looking forward 100.000000 meters along route # Maximum depth: 266.339345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 213.704434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805728; longitude = -121.859234; duration = 184; # abortOnTimeout = True; initialDepth = 192.815461; finalDepth = 213.704434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.99597 # Actual altitude: 70.99597 # Commanded vehicle depth: 213.704434 # Seafloor depth: -265.838753 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.30; 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 119 # Segment length 100.727466 meters # Minimum depth: 242.815461 meters looking forward 100.000000 meters along route # Maximum depth: 263.454448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 192.815461 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805398; longitude = -121.860183; duration = 201; initialDepth = 158.081911; finalDepth = 192.815461; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.638987 # Actual altitude: 70.638987 # Commanded vehicle depth: 192.815461 # Seafloor depth: -263.454448 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.19; 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 119 # Segment length 108.321602 meters # Minimum depth: 208.081911 meters looking forward 100.000000 meters along route # Maximum depth: 242.566150 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 158.081911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.805037; longitude = -121.861219; duration = 216; initialDepth = 156.437390; finalDepth = 158.081911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.484239 # Actual altitude: 84.484239 # Commanded vehicle depth: 158.081911 # Seafloor depth: -242.566150 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.35; 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 119 # Segment length 101.596375 meters # Minimum depth: 206.437390 meters looking forward 100.000000 meters along route # Maximum depth: 215.808497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 156.437390 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804650; longitude = -121.862334; duration = 203; initialDepth = 166.417973; finalDepth = 156.437390; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 84.484239 # Actual altitude: 84.484239 # Commanded vehicle depth: 156.43739 # Seafloor depth: -206.867765 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.35; 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 to get to end of line 118 # Segment length 158.274892 meters # Minimum depth: 216.417973 meters looking forward 100.000000 meters along route # Maximum depth: 229.303880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 166.417973 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804286; longitude = -121.863379; duration = 316; # abortOnTimeout = True; initialDepth = 180.069115; finalDepth = 166.417973; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.430375 # Actual altitude: 50.430375 # Commanded vehicle depth: 166.417973 # Seafloor depth: -216.417973 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 118 # Segment length 104.250695 meters # Minimum depth: 230.069115 meters looking forward 100.000000 meters along route # Maximum depth: 236.931899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 180.069115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803055; longitude = -121.864275; duration = 208; initialDepth = 188.615196; finalDepth = 180.069115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 180.069115 # Seafloor depth: -230.069115 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 118 # Segment length 100.435378 meters # Minimum depth: 238.615196 meters looking forward 100.000000 meters along route # Maximum depth: 247.979368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 188.615196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802243; longitude = -121.864865; duration = 200; initialDepth = 199.498257; finalDepth = 188.615196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 188.615196 # Seafloor depth: -238.615196 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 117 # Segment length 103.695992 meters # Minimum depth: 249.498257 meters looking forward 100.000000 meters along route # Maximum depth: 264.547325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 199.498257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801462; longitude = -121.865433; duration = 207; # abortOnTimeout = True; initialDepth = 214.551886; finalDepth = 199.498257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 199.498257 # Seafloor depth: -249.498257 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 117 # Segment length 103.587410 meters # Minimum depth: 264.551886 meters looking forward 100.000000 meters along route # Maximum depth: 277.317514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 214.551886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800801; longitude = -121.866255; duration = 207; initialDepth = 227.976387; finalDepth = 214.551886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 214.551886 # Seafloor depth: -264.551886 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 116 # Segment length 170.622791 meters # Minimum depth: 277.976387 meters looking forward 100.000000 meters along route # Maximum depth: 330.690323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 227.976387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800141; longitude = -121.867076; duration = 341; # abortOnTimeout = True; initialDepth = 283.029815; finalDepth = 227.976387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 227.976387 # Seafloor depth: -277.976387 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 116 # Segment length 104.663877 meters # Minimum depth: 333.029815 meters looking forward 100.000000 meters along route # Maximum depth: 336.506426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 283.029815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798819; longitude = -121.866099; duration = 209; initialDepth = 284.766289; finalDepth = 283.029815; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 283.029815 # Seafloor depth: -333.029815 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 104.664168 meters # Minimum depth: 334.766289 meters looking forward 100.000000 meters along route # Maximum depth: 350.263083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 284.766289 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -121.865500; duration = 209; initialDepth = 300.654129; finalDepth = 284.766289; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 284.766289 # Seafloor depth: -334.766289 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 104.664460 meters # Minimum depth: 350.654129 meters looking forward 100.000000 meters along route # Maximum depth: 371.814427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 300.654129 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.864901; duration = 209; initialDepth = 317.216690; finalDepth = 300.654129; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 300.654129 # Seafloor depth: -350.654129 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 109.041170 meters # Minimum depth: 367.216690 meters looking forward 100.000000 meters along route # Maximum depth: 376.553554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 317.216690 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.864302; duration = 218; initialDepth = 254.277635; finalDepth = 317.216690; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.867723 # Actual altitude: 54.867723 # Commanded vehicle depth: 317.21669 # Seafloor depth: -372.084413 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 100.288624 meters # Minimum depth: 304.277635 meters looking forward 100.000000 meters along route # Maximum depth: 365.924694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 254.277635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795540; longitude = -121.863678; duration = 200; initialDepth = 238.616530; finalDepth = 254.277635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 111.647059 # Actual altitude: 100 # Commanded vehicle depth: 254.277635 # Seafloor depth: -365.924694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 116 # Segment length 108.538206 meters # Minimum depth: 288.616530 meters looking forward 100.000000 meters along route # Maximum depth: 310.251670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 238.616530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794763; longitude = -121.863104; duration = 217; initialDepth = 239.069618; finalDepth = 238.616530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 111.647059 # Actual altitude: 100 # Commanded vehicle depth: 238.61653 # Seafloor depth: -310.251670 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 30.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 115 # Segment length 129.096551 meters # Minimum depth: 289.069618 meters looking forward 100.000000 meters along route # Maximum depth: 298.630817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 239.069618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793922; longitude = -121.862483; duration = 258; # abortOnTimeout = True; initialDepth = 246.147303; finalDepth = 239.069618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.63514 # Actual altitude: 71.63514 # Commanded vehicle depth: 239.069618 # Seafloor depth: -289.069618 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.49; 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 115 # Segment length 103.215004 meters # Minimum depth: 296.147303 meters looking forward 100.000000 meters along route # Maximum depth: 300.550765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 246.147303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.863832; duration = 206; initialDepth = 249.248631; finalDepth = 246.147303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.493658 # Actual altitude: 51.493658 # Commanded vehicle depth: 246.147303 # Seafloor depth: -297.640961 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; 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 115 # Segment length 107.212297 meters # Minimum depth: 299.248631 meters looking forward 100.000000 meters along route # Maximum depth: 301.969226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 249.248631 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793165; longitude = -121.864911; duration = 214; initialDepth = 252.202802; finalDepth = 249.248631; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.493658 # Actual altitude: 51.493658 # Commanded vehicle depth: 249.248631 # Seafloor depth: -299.912044 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; 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 115 # Segment length 107.212693 meters # Minimum depth: 302.202802 meters looking forward 100.000000 meters along route # Maximum depth: 316.711103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 252.202802 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792816; longitude = -121.866031; duration = 214; initialDepth = 267.748580; finalDepth = 252.202802; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.663413 # Actual altitude: 50.663413 # Commanded vehicle depth: 252.202802 # Seafloor depth: -302.202802 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.213088 meters # Minimum depth: 317.748580 meters looking forward 100.000000 meters along route # Maximum depth: 330.783111 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 267.748580 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792467; longitude = -121.867151; duration = 214; initialDepth = 281.068553; finalDepth = 267.748580; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 267.74858 # Seafloor depth: -317.748580 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 100.725095 meters # Minimum depth: 331.068553 meters looking forward 100.000000 meters along route # Maximum depth: 340.724590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 281.068553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792117; longitude = -121.868271; duration = 201; initialDepth = 278.613833; finalDepth = 281.068553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 281.068553 # Seafloor depth: -331.068553 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 102.980864 meters # Minimum depth: 328.613833 meters looking forward 100.000000 meters along route # Maximum depth: 338.467609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 278.613833 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791789; longitude = -121.869324; duration = 205; initialDepth = 282.178172; finalDepth = 278.613833; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.853776 # Actual altitude: 59.853776 # Commanded vehicle depth: 278.613833 # Seafloor depth: -338.467609 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.214236 meters # Minimum depth: 332.178172 meters looking forward 100.000000 meters along route # Maximum depth: 339.258197 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 282.178172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791454; longitude = -121.870400; duration = 214; initialDepth = 279.769749; finalDepth = 282.178172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.853776 # Actual altitude: 59.853776 # Commanded vehicle depth: 282.178172 # Seafloor depth: -332.178172 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.214632 meters # Minimum depth: 329.769749 meters looking forward 100.000000 meters along route # Maximum depth: 334.155998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 279.769749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791104; longitude = -121.871520; duration = 214; initialDepth = 267.724427; finalDepth = 279.769749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.386249 # Actual altitude: 54.386249 # Commanded vehicle depth: 279.769749 # Seafloor depth: -334.155998 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 115 # Segment length 107.215028 meters # Minimum depth: 317.724427 meters looking forward 100.000000 meters along route # Maximum depth: 330.357146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 267.724427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790755; longitude = -121.872641; duration = 214; initialDepth = 251.104095; finalDepth = 267.724427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.632719 # Actual altitude: 62.632719 # Commanded vehicle depth: 267.724427 # Seafloor depth: -330.357146 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.79; 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 115 # Segment length 100.962929 meters # Minimum depth: 301.104095 meters looking forward 100.000000 meters along route # Maximum depth: 315.838245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 251.104095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790406; longitude = -121.873761; duration = 201; initialDepth = 245.868000; finalDepth = 251.104095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.73415 # Actual altitude: 64.73415 # Commanded vehicle depth: 251.104095 # Seafloor depth: -315.838245 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.42; 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 115 # Segment length 102.746715 meters # Minimum depth: 295.868000 meters looking forward 100.000000 meters along route # Maximum depth: 301.677336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 245.868000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790077; longitude = -121.874816; duration = 205; initialDepth = 242.685419; finalDepth = 245.868000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.73415 # Actual altitude: 64.73415 # Commanded vehicle depth: 245.868 # Seafloor depth: -301.173546 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.42; 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 115 # Segment length 100.042739 meters # Minimum depth: 292.685419 meters looking forward 100.000000 meters along route # Maximum depth: 295.867160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 242.685419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789742; longitude = -121.875890; duration = 200; initialDepth = 245.429260; finalDepth = 242.685419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.305546 # Actual altitude: 55.305546 # Commanded vehicle depth: 242.685419 # Seafloor depth: -295.599322 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.59; 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 114 # Segment length 112.859084 meters # Minimum depth: 295.429260 meters looking forward 100.000000 meters along route # Maximum depth: 302.730233 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 245.429260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789416; longitude = -121.876935; duration = 225; # abortOnTimeout = True; initialDepth = 253.404444; finalDepth = 245.429260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.9139029999999 # Actual altitude: 52.9139029999999 # Commanded vehicle depth: 245.42926 # Seafloor depth: -295.429260 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 114 # Segment length 106.607048 meters # Minimum depth: 303.404444 meters looking forward 100.000000 meters along route # Maximum depth: 320.915484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 253.404444 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789941; longitude = -121.878018; duration = 213; initialDepth = 271.088022; finalDepth = 253.404444; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 253.404444 # Seafloor depth: -303.404444 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 103.490721 meters # Minimum depth: 321.088022 meters looking forward 100.000000 meters along route # Maximum depth: 334.962804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 271.088022 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790437; longitude = -121.879041; duration = 206; initialDepth = 285.643755; finalDepth = 271.088022; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 271.088022 # Seafloor depth: -321.088022 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 109.566982 meters # Minimum depth: 335.643755 meters looking forward 100.000000 meters along route # Maximum depth: 346.355849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 285.643755 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790919; longitude = -121.880035; duration = 219; initialDepth = 296.705644; finalDepth = 285.643755; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 285.643755 # Seafloor depth: -335.643755 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 100.528746 meters # Minimum depth: 346.705644 meters looking forward 100.000000 meters along route # Maximum depth: 360.977821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 296.705644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791429; longitude = -121.881086; duration = 201; initialDepth = 310.414511; finalDepth = 296.705644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 296.705644 # Seafloor depth: -346.705644 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 105.047097 meters # Minimum depth: 360.414511 meters looking forward 100.000000 meters along route # Maximum depth: 372.795952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 310.414511 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791896; longitude = -121.882051; duration = 210; initialDepth = 323.114115; finalDepth = 310.414511; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 310.414511 # Seafloor depth: -360.414511 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 105.046588 meters # Minimum depth: 373.114115 meters looking forward 100.000000 meters along route # Maximum depth: 382.641300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 323.114115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792385; longitude = -121.883060; duration = 210; initialDepth = 331.312447; finalDepth = 323.114115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 323.114115 # Seafloor depth: -373.114115 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 114 # Segment length 108.981686 meters # Minimum depth: 381.312447 meters looking forward 100.000000 meters along route # Maximum depth: 383.488071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 331.312447 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792874; longitude = -121.884068; duration = 217; initialDepth = 329.382168; finalDepth = 331.312447; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.031695 # Actual altitude: 51.031695 # Commanded vehicle depth: 331.312447 # Seafloor depth: -382.344142 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.31; 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 113 # Segment length 157.267983 meters # Minimum depth: 379.382168 meters looking forward 100.000000 meters along route # Maximum depth: 382.238983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 329.382168 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793381; longitude = -121.885114; duration = 314; # abortOnTimeout = True; initialDepth = 327.381277; finalDepth = 329.382168; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.856815 # Actual altitude: 52.856815 # Commanded vehicle depth: 329.382168 # Seafloor depth: -382.238983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 113 # Segment length 100.408652 meters # Minimum depth: 377.381277 meters looking forward 100.000000 meters along route # Maximum depth: 379.488867 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 327.381277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793248; longitude = -121.886869; duration = 200; initialDepth = 327.344114; finalDepth = 327.381277; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.856815 # Actual altitude: 52.856815 # Commanded vehicle depth: 327.381277 # Seafloor depth: -379.488867 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 113 # Segment length 100.408737 meters # Minimum depth: 377.344114 meters looking forward 100.000000 meters along route # Maximum depth: 381.384370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 327.344114 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793162; longitude = -121.887989; duration = 200; initialDepth = 331.689691; finalDepth = 327.344114; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.10759 # Actual altitude: 52.10759 # Commanded vehicle depth: 327.344114 # Seafloor depth: -378.088956 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 113 # Segment length 100.408823 meters # Minimum depth: 381.689691 meters looking forward 100.000000 meters along route # Maximum depth: 396.207237 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 331.689691 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793077; longitude = -121.889109; duration = 200; initialDepth = 348.436719; finalDepth = 331.689691; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.744842 # Actual altitude: 50.744842 # Commanded vehicle depth: 331.689691 # Seafloor depth: -381.689691 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 113 # Segment length 107.131908 meters # Minimum depth: 398.436719 meters looking forward 100.000000 meters along route # Maximum depth: 401.755555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 348.436719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792992; longitude = -121.890230; duration = 214; initialDepth = 351.748917; finalDepth = 348.436719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.453347 # Actual altitude: 50.453347 # Commanded vehicle depth: 348.436719 # Seafloor depth: -398.890066 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 112 # Segment length 103.760119 meters # Minimum depth: 401.748917 meters looking forward 100.000000 meters along route # Maximum depth: 408.445788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 351.748917 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792901; longitude = -121.891425; duration = 207; # abortOnTimeout = True; initialDepth = 358.886385; finalDepth = 351.748917; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.453347 # Actual altitude: 50.453347 # Commanded vehicle depth: 351.748917 # Seafloor depth: -401.748917 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 112 # Segment length 100.441017 meters # Minimum depth: 408.886385 meters looking forward 100.000000 meters along route # Maximum depth: 425.308413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 358.886385 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792992; longitude = -121.892582; duration = 200; initialDepth = 375.391504; finalDepth = 358.886385; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 358.886385 # Seafloor depth: -408.886385 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 100.440879 meters # Minimum depth: 425.391504 meters looking forward 100.000000 meters along route # Maximum depth: 441.808299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 375.391504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793080; longitude = -121.893703; duration = 200; initialDepth = 393.332922; finalDepth = 375.391504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 375.391504 # Seafloor depth: -425.391504 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 100.440740 meters # Minimum depth: 443.332922 meters looking forward 100.000000 meters along route # Maximum depth: 450.189881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 393.332922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793169; longitude = -121.894823; duration = 200; initialDepth = 398.119731; finalDepth = 393.332922; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 393.332922 # Seafloor depth: -443.332922 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 112 # Segment length 107.111339 meters # Minimum depth: 448.119731 meters looking forward 100.000000 meters along route # Maximum depth: 453.437492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 398.119731 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793257; longitude = -121.895943; duration = 214; initialDepth = 397.549286; finalDepth = 398.119731; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.656429 # Actual altitude: 50.656429 # Commanded vehicle depth: 398.119731 # Seafloor depth: -448.776160 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; 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; } # ####################################################### # # 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 111 # Segment length 171.135223 meters # Minimum depth: 447.549286 meters looking forward 100.000000 meters along route # Maximum depth: 462.308262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 397.549286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793351; longitude = -121.897138; duration = 342; # abortOnTimeout = True; initialDepth = 406.175680; finalDepth = 397.549286; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.656429 # Actual altitude: 50.656429 # Commanded vehicle depth: 397.549286 # Seafloor depth: -447.549286 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 110 # Segment length 137.872931 meters # Minimum depth: 456.175680 meters looking forward 100.000000 meters along route # Maximum depth: 462.252396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 406.175680 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794883; longitude = -121.897362; duration = 275; # abortOnTimeout = True; initialDepth = 399.906296; finalDepth = 406.175680; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.076716 # Actual altitude: 56.076716 # Commanded vehicle depth: 406.17568 # Seafloor depth: -462.252396 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 110 # Segment length 106.774740 meters # Minimum depth: 449.906296 meters looking forward 100.000000 meters along route # Maximum depth: 457.108728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 399.906296 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.896338; duration = 213; initialDepth = 371.527133; finalDepth = 399.906296; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.063791 # Actual altitude: 57.063791 # Commanded vehicle depth: 399.906296 # Seafloor depth: -456.970087 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.12; 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 110 # Segment length 102.336444 meters # Minimum depth: 421.527133 meters looking forward 100.000000 meters along route # Maximum depth: 449.059482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 371.527133 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793231; longitude = -121.895546; duration = 204; initialDepth = 369.820857; finalDepth = 371.527133; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 77.532349 # Actual altitude: 77.532349 # Commanded vehicle depth: 371.527133 # Seafloor depth: -449.059482 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.26; 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 109 # Segment length 86.788429 meters # Minimum depth: 419.820857 meters looking forward 100.000000 meters along route # Maximum depth: 424.516597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 369.820857 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792540; longitude = -121.894786; duration = 173; # abortOnTimeout = True; initialDepth = 349.957456; finalDepth = 369.820857; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 77.532349 # Actual altitude: 77.532349 # Commanded vehicle depth: 369.820857 # Seafloor depth: -422.840637 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.26; 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 109 # Segment length 103.440164 meters # Minimum depth: 399.957456 meters looking forward 100.000000 meters along route # Maximum depth: 419.257223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 349.957456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792499; longitude = -121.893815; duration = 206; initialDepth = 349.957456; finalDepth = 349.957456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 69.299767 # Actual altitude: 69.299767 # Commanded vehicle depth: 349.957456 # Seafloor depth: -419.257223 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.79; 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 108 # Segment length 92.148753 meters # Minimum depth: 399.957456 meters looking forward 100.000000 meters along route # Maximum depth: 417.261750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 349.957456 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792450; longitude = -121.892657; duration = 184; # abortOnTimeout = True; initialDepth = 367.389764; finalDepth = 349.957456; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.299767 # Actual altitude: 69.299767 # Commanded vehicle depth: 349.957456 # Seafloor depth: -400.126114 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 108 # Segment length 101.845031 meters # Minimum depth: 417.389764 meters looking forward 100.000000 meters along route # Maximum depth: 444.688790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 367.389764 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793054; longitude = -121.893367; duration = 203; initialDepth = 396.802334; finalDepth = 367.389764; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.168658 # Actual altitude: 50.168658 # Commanded vehicle depth: 367.389764 # Seafloor depth: -417.389764 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.05; 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 108 # Segment length 104.148340 meters # Minimum depth: 446.802334 meters looking forward 100.000000 meters along route # Maximum depth: 455.087466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 396.802334 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793721; longitude = -121.894151; duration = 208; initialDepth = 393.110885; finalDepth = 396.802334; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 396.802334 # Seafloor depth: -446.802334 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 110.085420 meters # Minimum depth: 443.110885 meters looking forward 100.000000 meters along route # Maximum depth: 454.727687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 393.110885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -121.894953; duration = 220; initialDepth = 393.378673; finalDepth = 393.110885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.616802 # Actual altitude: 61.616802 # Commanded vehicle depth: 393.110885 # Seafloor depth: -454.727687 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 108 # Segment length 100.981958 meters # Minimum depth: 443.378673 meters looking forward 100.000000 meters along route # Maximum depth: 449.593716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 393.378673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -121.895800; duration = 201; initialDepth = 396.103340; finalDepth = 393.378673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.616802 # Actual altitude: 61.616802 # Commanded vehicle depth: 393.378673 # Seafloor depth: -443.622297 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 107 # Segment length 162.758709 meters # Minimum depth: 446.103340 meters looking forward 100.000000 meters along route # Maximum depth: 467.205769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 396.103340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795785; longitude = -121.896578; duration = 325; # abortOnTimeout = True; initialDepth = 401.594077; finalDepth = 396.103340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.243624 # Actual altitude: 50.243624 # Commanded vehicle depth: 396.10334 # Seafloor depth: -446.103340 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 106 # Segment length 134.189183 meters # Minimum depth: 451.594077 meters looking forward 100.000000 meters along route # Maximum depth: 463.594766 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 401.594077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796055; longitude = -121.898371; duration = 268; # abortOnTimeout = True; initialDepth = 384.668594; finalDepth = 401.594077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.948144 # Actual altitude: 54.948144 # Commanded vehicle depth: 401.594077 # Seafloor depth: -456.542221 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 106 # Segment length 100.634256 meters # Minimum depth: 434.668594 meters looking forward 100.000000 meters along route # Maximum depth: 449.762021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 384.668594 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794853; longitude = -121.898201; duration = 201; initialDepth = 351.034741; finalDepth = 384.668594; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.58221 # Actual altitude: 63.58221 # Commanded vehicle depth: 384.668594 # Seafloor depth: -448.250804 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 100.634259 meters # Minimum depth: 401.034741 meters looking forward 100.000000 meters along route # Maximum depth: 435.639223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 351.034741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793952; longitude = -121.898073; duration = 201; initialDepth = 329.226868; finalDepth = 351.034741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.604482 # Actual altitude: 84.604482 # Commanded vehicle depth: 351.034741 # Seafloor depth: -435.639223 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.38; 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 106 # Segment length 100.634262 meters # Minimum depth: 379.226868 meters looking forward 100.000000 meters along route # Maximum depth: 402.870826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 329.226868 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793051; longitude = -121.897945; duration = 201; initialDepth = 330.361096; finalDepth = 329.226868; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 84.604482 # Actual altitude: 84.604482 # Commanded vehicle depth: 329.226868 # Seafloor depth: -402.870826 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.38; 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 106 # Segment length 100.634266 meters # Minimum depth: 380.361096 meters looking forward 100.000000 meters along route # Maximum depth: 386.730012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.361096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792150; longitude = -121.897817; duration = 201; initialDepth = 336.299866; finalDepth = 330.361096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.643958 # Actual altitude: 73.643958 # Commanded vehicle depth: 330.361096 # Seafloor depth: -381.784529 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.09; 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 106 # Segment length 100.634268 meters # Minimum depth: 386.299866 meters looking forward 100.000000 meters along route # Maximum depth: 389.227275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 336.299866 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791248; longitude = -121.897689; duration = 201; initialDepth = 338.576302; finalDepth = 336.299866; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.423433 # Actual altitude: 51.423433 # Commanded vehicle depth: 336.299866 # Seafloor depth: -386.299866 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 106 # Segment length 100.634272 meters # Minimum depth: 388.576302 meters looking forward 100.000000 meters along route # Maximum depth: 390.813689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 338.576302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790347; longitude = -121.897562; duration = 201; initialDepth = 341.811906; finalDepth = 338.576302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.27897 # Actual altitude: 50.27897 # Commanded vehicle depth: 338.576302 # Seafloor depth: -388.855272 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 100.634274 meters # Minimum depth: 391.811906 meters looking forward 100.000000 meters along route # Maximum depth: 398.493609 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 341.811906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789446; longitude = -121.897434; duration = 201; initialDepth = 349.708077; finalDepth = 341.811906; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.27897 # Actual altitude: 50.27897 # Commanded vehicle depth: 341.811906 # Seafloor depth: -391.811906 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 100.634278 meters # Minimum depth: 399.708077 meters looking forward 100.000000 meters along route # Maximum depth: 407.538945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 349.708077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788545; longitude = -121.897306; duration = 201; initialDepth = 354.747425; finalDepth = 349.708077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 349.708077 # Seafloor depth: -399.708077 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 100.634281 meters # Minimum depth: 404.747425 meters looking forward 100.000000 meters along route # Maximum depth: 408.352382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 354.747425 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787643; longitude = -121.897178; duration = 201; initialDepth = 355.515667; finalDepth = 354.747425; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.604957 # Actual altitude: 53.604957 # Commanded vehicle depth: 354.747425 # Seafloor depth: -408.352382 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 106 # Segment length 107.316644 meters # Minimum depth: 405.515667 meters looking forward 100.000000 meters along route # Maximum depth: 408.300251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.515667 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786742; longitude = -121.897050; duration = 214; initialDepth = 356.878105; finalDepth = 355.515667; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 53.604957 # Actual altitude: 53.604957 # Commanded vehicle depth: 355.515667 # Seafloor depth: -405.515667 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.08; 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 105 # Segment length 147.555791 meters # Minimum depth: 406.878105 meters looking forward 100.000000 meters along route # Maximum depth: 415.028754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 356.878105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785781; longitude = -121.896914; duration = 295; # abortOnTimeout = True; initialDepth = 363.174476; finalDepth = 356.878105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 356.878105 # Seafloor depth: -406.878105 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 104 # Segment length 84.448885 meters # Minimum depth: 413.174476 meters looking forward 100.000000 meters along route # Maximum depth: 421.033786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 363.174476 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785631; longitude = -121.898557; duration = 168; # abortOnTimeout = True; initialDepth = 373.321191; finalDepth = 363.174476; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.057442 # Actual altitude: 53.057442 # Commanded vehicle depth: 363.174476 # Seafloor depth: -416.231918 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 104 # Segment length 101.398721 meters # Minimum depth: 423.321191 meters looking forward 100.000000 meters along route # Maximum depth: 426.616478 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 373.321191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786382; longitude = -121.898714; duration = 202; initialDepth = 370.798674; finalDepth = 373.321191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.057442 # Actual altitude: 53.057442 # Commanded vehicle depth: 373.321191 # Seafloor depth: -423.712601 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.398698 meters # Minimum depth: 420.798674 meters looking forward 100.000000 meters along route # Maximum depth: 425.946661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 370.798674 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787283; longitude = -121.898903; duration = 202; initialDepth = 365.939032; finalDepth = 370.798674; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.147987 # Actual altitude: 55.147987 # Commanded vehicle depth: 370.798674 # Seafloor depth: -425.946661 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; 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 104 # Segment length 101.398675 meters # Minimum depth: 415.939032 meters looking forward 100.000000 meters along route # Maximum depth: 420.407289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 365.939032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788184; longitude = -121.899092; duration = 202; initialDepth = 363.717498; finalDepth = 365.939032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.147987 # Actual altitude: 55.147987 # Commanded vehicle depth: 365.939032 # Seafloor depth: -420.407289 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; 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 104 # Segment length 101.398653 meters # Minimum depth: 413.717498 meters looking forward 100.000000 meters along route # Maximum depth: 415.324062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 363.717498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789085; longitude = -121.899282; duration = 202; initialDepth = 362.489318; finalDepth = 363.717498; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.468257 # Actual altitude: 54.468257 # Commanded vehicle depth: 363.717498 # Seafloor depth: -415.016255 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.398631 meters # Minimum depth: 412.489318 meters looking forward 100.000000 meters along route # Maximum depth: 414.929510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 362.489318 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789987; longitude = -121.899471; duration = 202; initialDepth = 361.265670; finalDepth = 362.489318; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.29119 # Actual altitude: 52.29119 # Commanded vehicle depth: 362.489318 # Seafloor depth: -414.780508 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.398609 meters # Minimum depth: 411.265670 meters looking forward 100.000000 meters along route # Maximum depth: 416.195607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 361.265670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790888; longitude = -121.899660; duration = 202; initialDepth = 365.812085; finalDepth = 361.265670; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.29119 # Actual altitude: 52.29119 # Commanded vehicle depth: 361.26567 # Seafloor depth: -412.585792 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.398586 meters # Minimum depth: 415.812085 meters looking forward 100.000000 meters along route # Maximum depth: 420.847113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 365.812085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791789; longitude = -121.899849; duration = 202; initialDepth = 355.559970; finalDepth = 365.812085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.048092 # Actual altitude: 52.048092 # Commanded vehicle depth: 365.812085 # Seafloor depth: -417.860177 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 101.398565 meters # Minimum depth: 405.559970 meters looking forward 100.000000 meters along route # Maximum depth: 414.948717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.559970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.900038; duration = 202; initialDepth = 352.394590; finalDepth = 355.559970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.388747 # Actual altitude: 59.388747 # Commanded vehicle depth: 355.55997 # Seafloor depth: -414.948717 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 106.151112 meters # Minimum depth: 402.394590 meters looking forward 100.000000 meters along route # Maximum depth: 404.259929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.394590 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793592; longitude = -121.900227; duration = 212; initialDepth = 340.387169; finalDepth = 352.394590; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.388747 # Actual altitude: 59.388747 # Commanded vehicle depth: 352.39459 # Seafloor depth: -403.780678 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.82; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 104 # Segment length 100.021380 meters # Minimum depth: 390.387169 meters looking forward 100.000000 meters along route # Maximum depth: 401.726382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.387169 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794535; longitude = -121.900425; duration = 200; initialDepth = 338.814024; finalDepth = 340.387169; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 61.339213 # Actual altitude: 61.339213 # Commanded vehicle depth: 340.387169 # Seafloor depth: -401.726382 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.40; 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; } # ####################################################### # # 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 103 # Segment length 111.375520 meters # Minimum depth: 388.814024 meters looking forward 100.000000 meters along route # Maximum depth: 395.328022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 338.814024 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795424; longitude = -121.900611; duration = 222; # abortOnTimeout = True; initialDepth = 335.129681; finalDepth = 338.814024; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.339213 # Actual altitude: 61.339213 # Commanded vehicle depth: 338.814024 # Seafloor depth: -393.126465 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.40; 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 103 # Segment length 101.487446 meters # Minimum depth: 385.129681 meters looking forward 100.000000 meters along route # Maximum depth: 394.292767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 335.129681 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794560; longitude = -121.899976; duration = 202; initialDepth = 334.479649; finalDepth = 335.129681; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.163086 # Actual altitude: 59.163086 # Commanded vehicle depth: 335.129681 # Seafloor depth: -394.292767 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 103 # Segment length 108.319040 meters # Minimum depth: 384.479649 meters looking forward 100.000000 meters along route # Maximum depth: 392.495911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 334.479649 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793772; longitude = -121.899398; duration = 216; initialDepth = 331.534519; finalDepth = 334.479649; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.163086 # Actual altitude: 59.163086 # Commanded vehicle depth: 334.479649 # Seafloor depth: -385.007606 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 102 # Segment length 79.680511 meters # Minimum depth: 381.534519 meters looking forward 100.000000 meters along route # Maximum depth: 393.929232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 331.534519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792931; longitude = -121.898781; duration = 159; # abortOnTimeout = True; initialDepth = 323.461315; finalDepth = 331.534519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.295094 # Actual altitude: 62.295094 # Commanded vehicle depth: 331.534519 # Seafloor depth: -393.829613 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 102 # Segment length 100.707799 meters # Minimum depth: 373.461315 meters looking forward 100.000000 meters along route # Maximum depth: 383.465591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 323.461315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792494; longitude = -121.898072; duration = 201; initialDepth = 320.485562; finalDepth = 323.461315; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.295094 # Actual altitude: 62.295094 # Commanded vehicle depth: 323.461315 # Seafloor depth: -380.932588 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.69; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 102 # Segment length 104.907850 meters # Minimum depth: 370.485562 meters looking forward 100.000000 meters along route # Maximum depth: 373.666746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 320.485562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791943; longitude = -121.897176; duration = 209; initialDepth = 321.678635; finalDepth = 320.485562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.471273 # Actual altitude: 57.471273 # Commanded vehicle depth: 320.485562 # Seafloor depth: -373.666746 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 101 # Segment length 125.881715 meters # Minimum depth: 371.678635 meters looking forward 100.000000 meters along route # Maximum depth: 374.556333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 321.678635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791368; longitude = -121.896242; duration = 251; # abortOnTimeout = True; initialDepth = 325.242928; finalDepth = 321.678635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.181184 # Actual altitude: 53.181184 # Commanded vehicle depth: 321.678635 # Seafloor depth: -372.328430 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.95; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 101 # Segment length 104.307272 meters # Minimum depth: 375.242928 meters looking forward 100.000000 meters along route # Maximum depth: 390.049426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 325.242928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790941; longitude = -121.894935; duration = 208; initialDepth = 338.977364; finalDepth = 325.242928; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.649795 # Actual altitude: 50.649795 # Commanded vehicle depth: 325.242928 # Seafloor depth: -375.242928 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.19; 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; } # ####################################################### # # 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 100 # Segment length 128.064802 meters # Minimum depth: 388.977364 meters looking forward 100.000000 meters along route # Maximum depth: 398.412534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 338.977364 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790587; longitude = -121.893852; duration = 256; # abortOnTimeout = True; initialDepth = 348.132127; finalDepth = 338.977364; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 338.977364 # Seafloor depth: -388.977364 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 100 # Segment length 103.245671 meters # Minimum depth: 398.132127 meters looking forward 100.000000 meters along route # Maximum depth: 405.728387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 348.132127 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791702; longitude = -121.893479; duration = 206; initialDepth = 359.162148; finalDepth = 348.132127; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 348.132127 # Seafloor depth: -398.132127 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.552188 meters # Minimum depth: 409.162148 meters looking forward 100.000000 meters along route # Maximum depth: 419.227963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 359.162148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -121.893178; duration = 207; initialDepth = 367.517534; finalDepth = 359.162148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 359.162148 # Seafloor depth: -409.162148 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.552128 meters # Minimum depth: 417.517534 meters looking forward 100.000000 meters along route # Maximum depth: 443.378939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 367.517534 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.892876; duration = 207; initialDepth = 394.604916; finalDepth = 367.517534; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 367.517534 # Seafloor depth: -417.517534 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.552066 meters # Minimum depth: 444.604916 meters looking forward 100.000000 meters along route # Maximum depth: 449.702189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 394.604916 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -121.892574; duration = 207; initialDepth = 393.029064; finalDepth = 394.604916; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 394.604916 # Seafloor depth: -444.604916 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.552006 meters # Minimum depth: 443.029064 meters looking forward 100.000000 meters along route # Maximum depth: 448.052193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 393.029064 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.892272; duration = 207; initialDepth = 375.743914; finalDepth = 393.029064; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.023129 # Actual altitude: 55.023129 # Commanded vehicle depth: 393.029064 # Seafloor depth: -448.052193 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.551944 meters # Minimum depth: 425.743914 meters looking forward 100.000000 meters along route # Maximum depth: 441.452181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 375.743914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796205; longitude = -121.891970; duration = 207; initialDepth = 351.926429; finalDepth = 375.743914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.221288 # Actual altitude: 65.221288 # Commanded vehicle depth: 375.743914 # Seafloor depth: -440.965202 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 100 # Segment length 103.551884 meters # Minimum depth: 401.926429 meters looking forward 100.000000 meters along route # Maximum depth: 424.664616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 351.926429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797106; longitude = -121.891668; duration = 207; initialDepth = 306.260489; finalDepth = 351.926429; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.738187 # Actual altitude: 72.738187 # Commanded vehicle depth: 351.926429 # Seafloor depth: -424.664616 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.82; 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 100 # Segment length 103.551823 meters # Minimum depth: 356.260489 meters looking forward 100.000000 meters along route # Maximum depth: 396.370448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 306.260489 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798008; longitude = -121.891366; duration = 207; initialDepth = 268.346700; finalDepth = 306.260489; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 90.109959 # Actual altitude: 90.109959 # Commanded vehicle depth: 306.260489 # Seafloor depth: -396.370448 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.03; 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 100 # Segment length 106.989596 meters # Minimum depth: 318.346700 meters looking forward 100.000000 meters along route # Maximum depth: 353.437339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.346700 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798909; longitude = -121.891064; duration = 213; initialDepth = 266.543846; finalDepth = 268.346700; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 90.109959 # Actual altitude: 90.109959 # Commanded vehicle depth: 268.3467 # Seafloor depth: -353.437339 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 27.03; 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 99 # Segment length 132.476003 meters # Minimum depth: 316.543846 meters looking forward 100.000000 meters along route # Maximum depth: 349.076272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 266.543846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799840; longitude = -121.890752; duration = 264; # abortOnTimeout = True; initialDepth = 301.149110; finalDepth = 266.543846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 85.090639 # Actual altitude: 85.090639 # Commanded vehicle depth: 266.543846 # Seafloor depth: -316.543846 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.53; 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 99 # Segment length 105.604776 meters # Minimum depth: 351.149110 meters looking forward 100.000000 meters along route # Maximum depth: 417.172729 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 301.149110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799222; longitude = -121.892022; duration = 211; initialDepth = 367.588914; finalDepth = 301.149110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 301.14911 # Seafloor depth: -351.149110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 104.719190 meters # Minimum depth: 417.588914 meters looking forward 100.000000 meters along route # Maximum depth: 452.356052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 367.588914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798729; longitude = -121.893035; duration = 209; initialDepth = 402.753254; finalDepth = 367.588914; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 367.588914 # Seafloor depth: -417.588914 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 107.648237 meters # Minimum depth: 452.753254 meters looking forward 100.000000 meters along route # Maximum depth: 460.576241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 402.753254 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798240; longitude = -121.894039; duration = 215; initialDepth = 410.300469; finalDepth = 402.753254; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.533599 # Actual altitude: 52.533599 # Commanded vehicle depth: 402.753254 # Seafloor depth: -455.286853 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 102.677593 meters # Minimum depth: 460.300469 meters looking forward 100.000000 meters along route # Maximum depth: 465.393981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 410.300469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797737; longitude = -121.895071; duration = 205; initialDepth = 412.556051; finalDepth = 410.300469; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.533599 # Actual altitude: 52.533599 # Commanded vehicle depth: 410.300469 # Seafloor depth: -460.300469 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.76; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 109.691734 meters # Minimum depth: 462.556051 meters looking forward 100.000000 meters along route # Maximum depth: 465.515512 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 412.556051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797258; longitude = -121.896055; duration = 219; initialDepth = 413.654230; finalDepth = 412.556051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.959461 # Actual altitude: 52.959461 # Commanded vehicle depth: 412.556051 # Seafloor depth: -465.515512 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 100.635959 meters # Minimum depth: 463.654230 meters looking forward 100.000000 meters along route # Maximum depth: 468.419522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 413.654230 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.897107; duration = 201; initialDepth = 365.201654; finalDepth = 413.654230; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.959461 # Actual altitude: 52.959461 # Commanded vehicle depth: 413.65423 # Seafloor depth: -463.654230 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 105.164546 meters # Minimum depth: 415.201654 meters looking forward 100.000000 meters along route # Maximum depth: 464.961404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 365.201654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796276; longitude = -121.898072; duration = 210; initialDepth = 330.986138; finalDepth = 365.201654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.75975 # Actual altitude: 99.75975 # Commanded vehicle depth: 365.201654 # Seafloor depth: -464.961404 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.93; 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 99 # Segment length 105.165012 meters # Minimum depth: 380.986138 meters looking forward 100.000000 meters along route # Maximum depth: 406.996345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.986138 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795785; longitude = -121.899080; duration = 210; initialDepth = 334.731789; finalDepth = 330.986138; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 99.75975 # Actual altitude: 99.75975 # Commanded vehicle depth: 330.986138 # Seafloor depth: -402.801009 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 29.93; 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 99 # Segment length 105.165478 meters # Minimum depth: 384.731789 meters looking forward 100.000000 meters along route # Maximum depth: 398.703911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 334.731789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795294; longitude = -121.900088; duration = 210; initialDepth = 351.886474; finalDepth = 334.731789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.814871 # Actual altitude: 71.814871 # Commanded vehicle depth: 334.731789 # Seafloor depth: -384.731789 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.54; 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 99 # Segment length 105.165944 meters # Minimum depth: 401.886474 meters looking forward 100.000000 meters along route # Maximum depth: 433.188860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 351.886474 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794803; longitude = -121.901097; duration = 210; initialDepth = 383.200684; finalDepth = 351.886474; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 351.886474 # Seafloor depth: -401.886474 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 105.166410 meters # Minimum depth: 433.200684 meters looking forward 100.000000 meters along route # Maximum depth: 487.011308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 383.200684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794312; longitude = -121.902105; duration = 210; initialDepth = 438.317818; finalDepth = 383.200684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.200684 # Seafloor depth: -433.200684 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 107.190768 meters # Minimum depth: 488.317818 meters looking forward 100.000000 meters along route # Maximum depth: 510.806583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 438.317818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793822; longitude = -121.903113; duration = 214; initialDepth = 460.989262; finalDepth = 438.317818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 438.317818 # Seafloor depth: -488.317818 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 103.143450 meters # Minimum depth: 510.989262 meters looking forward 100.000000 meters along route # Maximum depth: 518.168212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 460.989262 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.904141; duration = 206; initialDepth = 432.233913; finalDepth = 460.989262; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 460.989262 # Seafloor depth: -510.989262 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 99 # Segment length 109.234343 meters # Minimum depth: 482.233913 meters looking forward 100.000000 meters along route # Maximum depth: 516.094632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 432.233913 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792840; longitude = -121.905130; duration = 218; initialDepth = 399.170902; finalDepth = 432.233913; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.8607190000001 # Actual altitude: 83.8607190000001 # Commanded vehicle depth: 432.233913 # Seafloor depth: -516.094632 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.16; 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 99 # Segment length 101.101739 meters # Minimum depth: 449.170902 meters looking forward 100.000000 meters along route # Maximum depth: 481.566126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 399.170902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792330; longitude = -121.906177; duration = 202; initialDepth = 363.095122; finalDepth = 399.170902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 83.8607190000001 # Actual altitude: 83.8607190000001 # Commanded vehicle depth: 399.170902 # Seafloor depth: -481.566126 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.16; 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 99 # Segment length 111.277955 meters # Minimum depth: 413.095122 meters looking forward 100.000000 meters along route # Maximum depth: 449.221692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 363.095122 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791858; longitude = -121.907146; duration = 222; initialDepth = 351.887723; finalDepth = 363.095122; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 86.12657 # Actual altitude: 86.12657 # Commanded vehicle depth: 363.095122 # Seafloor depth: -449.221692 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.84; 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 99 # Segment length 102.919659 meters # Minimum depth: 401.887723 meters looking forward 100.000000 meters along route # Maximum depth: 410.606119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 351.887723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -121.908213; duration = 205; initialDepth = 352.802635; finalDepth = 351.887723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 86.12657 # Actual altitude: 86.12657 # Commanded vehicle depth: 351.887723 # Seafloor depth: -410.606119 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 25.84; 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 98 # Segment length 169.072477 meters # Minimum depth: 402.802635 meters looking forward 100.000000 meters along route # Maximum depth: 415.651516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.802635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790858; longitude = -121.909200; duration = 338; # abortOnTimeout = True; initialDepth = 361.979483; finalDepth = 352.802635; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.718396 # Actual altitude: 58.718396 # Commanded vehicle depth: 352.802635 # Seafloor depth: -402.802635 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.62; 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 98 # Segment length 108.229187 meters # Minimum depth: 411.979483 meters looking forward 100.000000 meters along route # Maximum depth: 415.827527 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 361.979483 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789356; longitude = -121.908882; duration = 216; initialDepth = 362.208604; finalDepth = 361.979483; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.523293 # Actual altitude: 50.523293 # Commanded vehicle depth: 361.979483 # Seafloor depth: -412.502776 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 97 # Segment length 86.876415 meters # Minimum depth: 412.208604 meters looking forward 100.000000 meters along route # Maximum depth: 443.621497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 362.208604 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788394; longitude = -121.908678; duration = 173; # abortOnTimeout = True; initialDepth = 399.149371; finalDepth = 362.208604; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.083785 # Actual altitude: 51.083785 # Commanded vehicle depth: 362.208604 # Seafloor depth: -413.292389 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 97 # Segment length 100.193124 meters # Minimum depth: 449.149371 meters looking forward 100.000000 meters along route # Maximum depth: 464.982930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 399.149371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788446; longitude = -121.907707; duration = 200; initialDepth = 415.713536; finalDepth = 399.149371; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.083785 # Actual altitude: 51.083785 # Commanded vehicle depth: 399.149371 # Seafloor depth: -449.149371 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.193068 meters # Minimum depth: 465.713536 meters looking forward 100.000000 meters along route # Maximum depth: 483.632704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 415.713536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788507; longitude = -121.906586; duration = 200; initialDepth = 435.194871; finalDepth = 415.713536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 415.713536 # Seafloor depth: -465.713536 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.193015 meters # Minimum depth: 485.194871 meters looking forward 100.000000 meters along route # Maximum depth: 512.743838 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 435.194871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788567; longitude = -121.905466; duration = 200; initialDepth = 465.830273; finalDepth = 435.194871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 435.194871 # Seafloor depth: -485.194871 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.192960 meters # Minimum depth: 515.830273 meters looking forward 100.000000 meters along route # Maximum depth: 528.359831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 465.830273 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788628; longitude = -121.904346; duration = 200; initialDepth = 450.875675; finalDepth = 465.830273; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 465.830273 # Seafloor depth: -515.830273 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 97 # Segment length 100.192906 meters # Minimum depth: 500.875675 meters looking forward 100.000000 meters along route # Maximum depth: 530.417822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 450.875675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788688; longitude = -121.903225; duration = 200; initialDepth = 408.322424; finalDepth = 450.875675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 78.932821 # Actual altitude: 78.932821 # Commanded vehicle depth: 450.875675 # Seafloor depth: -529.808496 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.68; 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 97 # Segment length 100.192852 meters # Minimum depth: 458.322424 meters looking forward 100.000000 meters along route # Maximum depth: 497.274386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 408.322424 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788749; longitude = -121.902105; duration = 200; initialDepth = 382.189903; finalDepth = 408.322424; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.951962 # Actual altitude: 88.951962 # Commanded vehicle depth: 408.322424 # Seafloor depth: -497.274386 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.69; 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 97 # Segment length 100.192798 meters # Minimum depth: 432.189903 meters looking forward 100.000000 meters along route # Maximum depth: 456.577284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 382.189903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788809; longitude = -121.900985; duration = 200; initialDepth = 360.290813; finalDepth = 382.189903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.951962 # Actual altitude: 88.951962 # Commanded vehicle depth: 382.189903 # Seafloor depth: -456.577284 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.69; 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 97 # Segment length 100.192743 meters # Minimum depth: 410.290813 meters looking forward 100.000000 meters along route # Maximum depth: 428.862446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 360.290813 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788870; longitude = -121.899864; duration = 200; initialDepth = 348.253770; finalDepth = 360.290813; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.387381 # Actual altitude: 74.387381 # Commanded vehicle depth: 360.290813 # Seafloor depth: -428.862446 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.32; 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 97 # Segment length 100.192690 meters # Minimum depth: 398.253770 meters looking forward 100.000000 meters along route # Maximum depth: 408.938175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 348.253770 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788930; longitude = -121.898744; duration = 200; initialDepth = 340.766954; finalDepth = 348.253770; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.571633 # Actual altitude: 68.571633 # Commanded vehicle depth: 348.25377 # Seafloor depth: -408.938175 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.57; 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 97 # Segment length 106.849725 meters # Minimum depth: 390.766954 meters looking forward 100.000000 meters along route # Maximum depth: 397.227446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.766954 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788991; longitude = -121.897624; duration = 213; initialDepth = 340.958115; finalDepth = 340.766954; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 60.684405 # Actual altitude: 60.684405 # Commanded vehicle depth: 340.766954 # Seafloor depth: -397.227446 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.21; 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 96 # Segment length 127.140566 meters # Minimum depth: 390.958115 meters looking forward 100.000000 meters along route # Maximum depth: 401.801246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.958115 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789055; longitude = -121.896429; duration = 254; # abortOnTimeout = True; initialDepth = 350.421797; finalDepth = 340.958115; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.460492 # Actual altitude: 56.460492 # Commanded vehicle depth: 340.958115 # Seafloor depth: -390.958115 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.94; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 96 # Segment length 100.397934 meters # Minimum depth: 400.421797 meters looking forward 100.000000 meters along route # Maximum depth: 402.420212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 350.421797 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787914; longitude = -121.896300; duration = 200; initialDepth = 350.399684; finalDepth = 350.421797; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.602293 # Actual altitude: 50.602293 # Commanded vehicle depth: 350.421797 # Seafloor depth: -401.024090 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 96 # Segment length 103.764079 meters # Minimum depth: 400.399684 meters looking forward 100.000000 meters along route # Maximum depth: 404.969567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 350.399684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787012; longitude = -121.896198; duration = 207; initialDepth = 354.797508; finalDepth = 350.399684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50.602293 # Actual altitude: 50.602293 # Commanded vehicle depth: 350.399684 # Seafloor depth: -400.951354 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 95 # Segment length 97.089287 meters # Minimum depth: 404.797508 meters looking forward 100.000000 meters along route # Maximum depth: 407.764839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 354.797508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786081; longitude = -121.896093; duration = 194; # abortOnTimeout = True; initialDepth = 357.577197; finalDepth = 354.797508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.55167 # Actual altitude: 50.55167 # Commanded vehicle depth: 354.797508 # Seafloor depth: -404.797508 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 95 # Segment length 100.469306 meters # Minimum depth: 407.577197 meters looking forward 100.000000 meters along route # Maximum depth: 413.918716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 357.577197 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785994; longitude = -121.897176; duration = 200; initialDepth = 365.109132; finalDepth = 357.577197; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 357.577197 # Seafloor depth: -407.577197 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 100.469399 meters # Minimum depth: 415.109132 meters looking forward 100.000000 meters along route # Maximum depth: 425.942966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 365.109132 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785904; longitude = -121.898296; duration = 200; initialDepth = 375.573949; finalDepth = 365.109132; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 365.109132 # Seafloor depth: -415.109132 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 95 # Segment length 103.826112 meters # Minimum depth: 425.573949 meters looking forward 100.000000 meters along route # Maximum depth: 459.126849 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 375.573949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785814; longitude = -121.899416; duration = 207; initialDepth = 395.550796; finalDepth = 375.573949; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 375.573949 # Seafloor depth: -425.573949 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 94 # Segment length 154.881298 meters # Minimum depth: 445.550796 meters looking forward 100.000000 meters along route # Maximum depth: 466.119618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 395.550796 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785721; longitude = -121.900574; duration = 309; # abortOnTimeout = True; initialDepth = 393.971120; finalDepth = 395.550796; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.301377 # Actual altitude: 66.301377 # Commanded vehicle depth: 395.550796 # Seafloor depth: -461.852173 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 94 # Segment length 101.032986 meters # Minimum depth: 443.971120 meters looking forward 100.000000 meters along route # Maximum depth: 481.810267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 393.971120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787103; longitude = -121.900823; duration = 202; initialDepth = 407.561579; finalDepth = 393.971120; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.301377 # Actual altitude: 66.301377 # Commanded vehicle depth: 393.97112 # Seafloor depth: -445.581912 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 94 # Segment length 101.032973 meters # Minimum depth: 457.561579 meters looking forward 100.000000 meters along route # Maximum depth: 482.272728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 407.561579 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788004; longitude = -121.900986; duration = 202; initialDepth = 407.546086; finalDepth = 407.561579; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.711149 # Actual altitude: 74.711149 # Commanded vehicle depth: 407.561579 # Seafloor depth: -482.272728 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.41; 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 94 # Segment length 101.032960 meters # Minimum depth: 457.546086 meters looking forward 100.000000 meters along route # Maximum depth: 460.799578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 407.546086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788905; longitude = -121.901148; duration = 202; initialDepth = 398.141553; finalDepth = 407.546086; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.711149 # Actual altitude: 74.711149 # Commanded vehicle depth: 407.546086 # Seafloor depth: -460.140062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.41; 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 94 # Segment length 101.032946 meters # Minimum depth: 448.141553 meters looking forward 100.000000 meters along route # Maximum depth: 460.465402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 398.141553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789806; longitude = -121.901311; duration = 202; initialDepth = 394.817995; finalDepth = 398.141553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.323849 # Actual altitude: 62.323849 # Commanded vehicle depth: 398.141553 # Seafloor depth: -460.465402 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.70; 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 94 # Segment length 101.032934 meters # Minimum depth: 444.817995 meters looking forward 100.000000 meters along route # Maximum depth: 456.566597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 394.817995 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790708; longitude = -121.901474; duration = 202; initialDepth = 405.334871; finalDepth = 394.817995; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.323849 # Actual altitude: 62.323849 # Commanded vehicle depth: 394.817995 # Seafloor depth: -446.319043 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.70; 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 94 # Segment length 101.032920 meters # Minimum depth: 455.334871 meters looking forward 100.000000 meters along route # Maximum depth: 477.596284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 405.334871 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791609; longitude = -121.901636; duration = 202; initialDepth = 404.449292; finalDepth = 405.334871; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.501048 # Actual altitude: 51.501048 # Commanded vehicle depth: 405.334871 # Seafloor depth: -455.334871 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; 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 94 # Segment length 101.032906 meters # Minimum depth: 454.449292 meters looking forward 100.000000 meters along route # Maximum depth: 470.804971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 404.449292 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792510; longitude = -121.901799; duration = 202; initialDepth = 387.168054; finalDepth = 404.449292; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.943574 # Actual altitude: 65.943574 # Commanded vehicle depth: 404.449292 # Seafloor depth: -470.392866 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.78; 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 94 # Segment length 101.032894 meters # Minimum depth: 437.168054 meters looking forward 100.000000 meters along route # Maximum depth: 454.005353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 387.168054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793411; longitude = -121.901961; duration = 202; initialDepth = 376.047069; finalDepth = 387.168054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.943574 # Actual altitude: 65.943574 # Commanded vehicle depth: 387.168054 # Seafloor depth: -452.338519 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.78; 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 94 # Segment length 104.423964 meters # Minimum depth: 426.047069 meters looking forward 100.000000 meters along route # Maximum depth: 433.802006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 376.047069 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -121.902124; duration = 208; initialDepth = 355.604017; finalDepth = 376.047069; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.170465 # Actual altitude: 65.170465 # Commanded vehicle depth: 376.047069 # Seafloor depth: -433.802006 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.55; 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 93 # Segment length 90.042018 meters # Minimum depth: 405.604017 meters looking forward 100.000000 meters along route # Maximum depth: 429.904778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.604017 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795244; longitude = -121.902292; duration = 180; # abortOnTimeout = True; initialDepth = 356.473002; finalDepth = 355.604017; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.300761 # Actual altitude: 74.300761 # Commanded vehicle depth: 355.604017 # Seafloor depth: -429.904778 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.29; 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 93 # Segment length 104.744325 meters # Minimum depth: 406.473002 meters looking forward 100.000000 meters along route # Maximum depth: 427.940504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 356.473002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795664; longitude = -121.901429; duration = 209; initialDepth = 364.945105; finalDepth = 356.473002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.300761 # Actual altitude: 74.300761 # Commanded vehicle depth: 356.473002 # Seafloor depth: -406.473002 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.29; 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 93 # Segment length 101.231946 meters # Minimum depth: 414.945105 meters looking forward 100.000000 meters along route # Maximum depth: 427.591767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 364.945105 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796153; longitude = -121.900425; duration = 202; initialDepth = 368.053123; finalDepth = 364.945105; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.646662 # Actual altitude: 62.646662 # Commanded vehicle depth: 364.945105 # Seafloor depth: -427.591767 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.79; 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 92 # Segment length 173.406360 meters # Minimum depth: 418.053123 meters looking forward 100.000000 meters along route # Maximum depth: 470.993554 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 368.053123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796626; longitude = -121.899454; duration = 346; # abortOnTimeout = True; initialDepth = 403.338392; finalDepth = 368.053123; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.646662 # Actual altitude: 62.646662 # Commanded vehicle depth: 368.053123 # Seafloor depth: -418.053123 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.79; 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 92 # Segment length 106.664402 meters # Minimum depth: 453.338392 meters looking forward 100.000000 meters along route # Maximum depth: 468.621039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 403.338392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796682; longitude = -121.897512; duration = 213; initialDepth = 396.063325; finalDepth = 403.338392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.282647 # Actual altitude: 65.282647 # Commanded vehicle depth: 403.338392 # Seafloor depth: -468.621039 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 91 # Segment length 168.314720 meters # Minimum depth: 446.063325 meters looking forward 100.000000 meters along route # Maximum depth: 452.942444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 396.063325 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796716; longitude = -121.896317; duration = 336; # abortOnTimeout = True; initialDepth = 393.468245; finalDepth = 396.063325; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.282647 # Actual altitude: 65.282647 # Commanded vehicle depth: 396.063325 # Seafloor depth: -452.942444 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 91 # Segment length 100.972029 meters # Minimum depth: 443.468245 meters looking forward 100.000000 meters along route # Maximum depth: 448.875893 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 393.468245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795664; longitude = -121.894957; duration = 201; initialDepth = 399.012160; finalDepth = 393.468245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.879119 # Actual altitude: 56.879119 # Commanded vehicle depth: 393.468245 # Seafloor depth: -446.547861 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 109.814347 meters # Minimum depth: 449.012160 meters looking forward 100.000000 meters along route # Maximum depth: 452.302299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 399.012160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795034; longitude = -121.894142; duration = 219; initialDepth = 368.186112; finalDepth = 399.012160; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.079616 # Actual altitude: 53.079616 # Commanded vehicle depth: 399.01216 # Seafloor depth: -449.012160 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 91 # Segment length 101.696687 meters # Minimum depth: 418.186112 meters looking forward 100.000000 meters along route # Maximum depth: 448.619904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 368.186112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794347; longitude = -121.893255; duration = 203; initialDepth = 351.568775; finalDepth = 368.186112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 80.433792 # Actual altitude: 80.433792 # Commanded vehicle depth: 368.186112 # Seafloor depth: -448.619904 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.13; 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 90 # Segment length 168.199927 meters # Minimum depth: 401.568775 meters looking forward 100.000000 meters along route # Maximum depth: 417.846817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 351.568775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793712; longitude = -121.892433; duration = 336; # abortOnTimeout = True; initialDepth = 346.547660; finalDepth = 351.568775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.433792 # Actual altitude: 80.433792 # Commanded vehicle depth: 351.568775 # Seafloor depth: -417.846817 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.13; 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 90 # Segment length 100.917567 meters # Minimum depth: 396.547660 meters looking forward 100.000000 meters along route # Maximum depth: 401.178780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 346.547660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793920; longitude = -121.890566; duration = 201; initialDepth = 343.611032; finalDepth = 346.547660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.278042 # Actual altitude: 66.278042 # Commanded vehicle depth: 346.54766 # Seafloor depth: -401.178780 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 100.917432 meters # Minimum depth: 393.611032 meters looking forward 100.000000 meters along route # Maximum depth: 397.567940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 343.611032 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794045; longitude = -121.889445; duration = 201; initialDepth = 335.638942; finalDepth = 343.611032; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.63112 # Actual altitude: 54.63112 # Commanded vehicle depth: 343.611032 # Seafloor depth: -396.476292 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 90 # Segment length 100.917295 meters # Minimum depth: 385.638942 meters looking forward 100.000000 meters along route # Maximum depth: 393.611765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 335.638942 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794170; longitude = -121.888325; duration = 201; initialDepth = 326.246719; finalDepth = 335.638942; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.729949 # Actual altitude: 57.729949 # Commanded vehicle depth: 335.638942 # Seafloor depth: -393.368891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; 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 90 # Segment length 100.917159 meters # Minimum depth: 376.246719 meters looking forward 100.000000 meters along route # Maximum depth: 383.161891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 326.246719 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794295; longitude = -121.887205; duration = 201; initialDepth = 323.319992; finalDepth = 326.246719; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.729949 # Actual altitude: 57.729949 # Commanded vehicle depth: 326.246719 # Seafloor depth: -383.161891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; 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 90 # Segment length 107.600216 meters # Minimum depth: 373.319992 meters looking forward 100.000000 meters along route # Maximum depth: 376.257513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 323.319992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794420; longitude = -121.886085; duration = 215; initialDepth = 325.253895; finalDepth = 323.319992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.915172 # Actual altitude: 56.915172 # Commanded vehicle depth: 323.319992 # Seafloor depth: -376.257513 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 89 # Segment length 87.204444 meters # Minimum depth: 375.253895 meters looking forward 100.000000 meters along route # Maximum depth: 378.989140 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 325.253895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794553; longitude = -121.884890; duration = 174; # abortOnTimeout = True; initialDepth = 319.623960; finalDepth = 325.253895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.937521 # Actual altitude: 52.937521 # Commanded vehicle depth: 325.253895 # Seafloor depth: -376.549675 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 89 # Segment length 110.020762 meters # Minimum depth: 369.623960 meters looking forward 100.000000 meters along route # Maximum depth: 378.939440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 319.623960 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794128; longitude = -121.884068; duration = 220; initialDepth = 311.629181; finalDepth = 319.623960; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.31548 # Actual altitude: 59.31548 # Commanded vehicle depth: 319.62396 # Seafloor depth: -378.939440 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 103.899082 meters # Minimum depth: 361.629181 meters looking forward 100.000000 meters along route # Maximum depth: 369.084739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 311.629181 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793592; longitude = -121.883031; duration = 207; initialDepth = 314.846392; finalDepth = 311.629181; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.31548 # Actual altitude: 59.31548 # Commanded vehicle depth: 311.629181 # Seafloor depth: -369.084739 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 106.960723 meters # Minimum depth: 364.846392 meters looking forward 100.000000 meters along route # Maximum depth: 395.083963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 314.846392 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793085; longitude = -121.882051; duration = 213; initialDepth = 336.127812; finalDepth = 314.846392; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.455558 # Actual altitude: 57.455558 # Commanded vehicle depth: 314.846392 # Seafloor depth: -364.846392 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 106.961256 meters # Minimum depth: 386.127812 meters looking forward 100.000000 meters along route # Maximum depth: 395.814874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 336.127812 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792564; longitude = -121.881043; duration = 213; initialDepth = 312.066256; finalDepth = 336.127812; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.304064 # Actual altitude: 57.304064 # Commanded vehicle depth: 336.127812 # Seafloor depth: -393.431876 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.19; 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 89 # Segment length 107.381446 meters # Minimum depth: 362.066256 meters looking forward 100.000000 meters along route # Maximum depth: 384.390210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 312.066256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792042; longitude = -121.880035; duration = 214; initialDepth = 288.987186; finalDepth = 312.066256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.323954 # Actual altitude: 72.323954 # Commanded vehicle depth: 312.066256 # Seafloor depth: -384.390210 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.70; 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 89 # Segment length 106.542670 meters # Minimum depth: 338.987186 meters looking forward 100.000000 meters along route # Maximum depth: 371.101293 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 288.987186 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -121.879023; duration = 213; initialDepth = 278.840065; finalDepth = 288.987186; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.778752 # Actual altitude: 79.778752 # Commanded vehicle depth: 288.987186 # Seafloor depth: -368.765938 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 89 # Segment length 103.033069 meters # Minimum depth: 328.840065 meters looking forward 100.000000 meters along route # Maximum depth: 342.353846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 278.840065 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790999; longitude = -121.878018; duration = 206; initialDepth = 276.993332; finalDepth = 278.840065; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 79.778752 # Actual altitude: 79.778752 # Commanded vehicle depth: 278.840065 # Seafloor depth: -340.523192 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 88 # Segment length 167.654518 meters # Minimum depth: 326.993332 meters looking forward 100.000000 meters along route # Maximum depth: 356.252594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 276.993332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790497; longitude = -121.877047; duration = 335; # abortOnTimeout = True; initialDepth = 306.484238; finalDepth = 276.993332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.683127 # Actual altitude: 61.683127 # Commanded vehicle depth: 276.993332 # Seafloor depth: -326.993332 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 88 # Segment length 105.844184 meters # Minimum depth: 356.484238 meters looking forward 100.000000 meters along route # Maximum depth: 361.507839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 306.484238 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791068; longitude = -121.875307; duration = 211; initialDepth = 305.827201; finalDepth = 306.484238; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 306.484238 # Seafloor depth: -356.484238 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.970688 meters # Minimum depth: 355.827201 meters looking forward 100.000000 meters along route # Maximum depth: 361.508160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 305.827201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791429; longitude = -121.874209; duration = 215; initialDepth = 305.336410; finalDepth = 305.827201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.680959 # Actual altitude: 55.680959 # Commanded vehicle depth: 305.827201 # Seafloor depth: -361.508160 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.970273 meters # Minimum depth: 355.336410 meters looking forward 100.000000 meters along route # Maximum depth: 359.269221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 305.336410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791796; longitude = -121.873089; duration = 215; initialDepth = 306.839363; finalDepth = 305.336410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.680959 # Actual altitude: 55.680959 # Commanded vehicle depth: 305.33641 # Seafloor depth: -359.269221 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.969858 meters # Minimum depth: 356.839363 meters looking forward 100.000000 meters along route # Maximum depth: 359.878836 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 306.839363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792164; longitude = -121.871969; duration = 215; initialDepth = 308.912705; finalDepth = 306.839363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.932811 # Actual altitude: 53.932811 # Commanded vehicle depth: 306.839363 # Seafloor depth: -356.962082 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.969444 meters # Minimum depth: 358.912705 meters looking forward 100.000000 meters along route # Maximum depth: 368.873518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 308.912705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792532; longitude = -121.870848; duration = 215; initialDepth = 301.851767; finalDepth = 308.912705; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.122719 # Actual altitude: 50.122719 # Commanded vehicle depth: 308.912705 # Seafloor depth: -358.912705 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.969029 meters # Minimum depth: 351.851767 meters looking forward 100.000000 meters along route # Maximum depth: 369.047231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 301.851767 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792900; longitude = -121.869728; duration = 215; initialDepth = 290.260050; finalDepth = 301.851767; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.195464 # Actual altitude: 67.195464 # Commanded vehicle depth: 301.851767 # Seafloor depth: -369.047231 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.16; 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 88 # Segment length 107.968614 meters # Minimum depth: 340.260050 meters looking forward 100.000000 meters along route # Maximum depth: 352.775790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 290.260050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793267; longitude = -121.868608; duration = 215; initialDepth = 280.785737; finalDepth = 290.260050; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.195464 # Actual altitude: 67.195464 # Commanded vehicle depth: 290.26005 # Seafloor depth: -349.906276 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.16; 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 88 # Segment length 107.968199 meters # Minimum depth: 330.785737 meters looking forward 100.000000 meters along route # Maximum depth: 340.149904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.785737 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793635; longitude = -121.867487; duration = 215; initialDepth = 274.595964; finalDepth = 280.785737; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.646226 # Actual altitude: 59.646226 # Commanded vehicle depth: 280.785737 # Seafloor depth: -339.320277 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.967785 meters # Minimum depth: 324.595964 meters looking forward 100.000000 meters along route # Maximum depth: 334.528371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 274.595964 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794003; longitude = -121.866367; duration = 215; initialDepth = 270.569387; finalDepth = 274.595964; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.53454 # Actual altitude: 58.53454 # Commanded vehicle depth: 274.595964 # Seafloor depth: -331.900049 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.56; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 107.967370 meters # Minimum depth: 320.569387 meters looking forward 100.000000 meters along route # Maximum depth: 328.556746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 270.569387 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794371; longitude = -121.865247; duration = 215; initialDepth = 268.490057; finalDepth = 270.569387; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.987359 # Actual altitude: 57.987359 # Commanded vehicle depth: 270.569387 # Seafloor depth: -328.556746 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 88 # Segment length 104.402982 meters # Minimum depth: 318.490057 meters looking forward 100.000000 meters along route # Maximum depth: 326.808598 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.490057 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794738; longitude = -121.864126; duration = 208; initialDepth = 268.980110; finalDepth = 268.490057; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.987359 # Actual altitude: 57.987359 # Commanded vehicle depth: 268.490057 # Seafloor depth: -324.394974 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 87 # Segment length 169.806925 meters # Minimum depth: 318.980110 meters looking forward 100.000000 meters along route # Maximum depth: 344.848103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 268.980110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795094; longitude = -121.863043; duration = 339; # abortOnTimeout = True; initialDepth = 269.744957; finalDepth = 268.980110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.904917 # Actual altitude: 55.904917 # Commanded vehicle depth: 268.98011 # Seafloor depth: -318.980110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.77; 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 87 # Segment length 104.910159 meters # Minimum depth: 319.744957 meters looking forward 100.000000 meters along route # Maximum depth: 342.539844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 269.744957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796234; longitude = -121.861774; duration = 209; initialDepth = 262.262791; finalDepth = 269.744957; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.794887 # Actual altitude: 72.794887 # Commanded vehicle depth: 269.744957 # Seafloor depth: -342.539844 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 87 # Segment length 109.890356 meters # Minimum depth: 312.262791 meters looking forward 100.000000 meters along route # Maximum depth: 320.130649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 262.262791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796939; longitude = -121.860989; duration = 219; initialDepth = 264.901932; finalDepth = 262.262791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.794887 # Actual altitude: 72.794887 # Commanded vehicle depth: 262.262791 # Seafloor depth: -320.130649 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 86 # Segment length 114.135116 meters # Minimum depth: 314.901932 meters looking forward 100.000000 meters along route # Maximum depth: 326.394142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 264.901932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797677; longitude = -121.860168; duration = 228; # abortOnTimeout = True; initialDepth = 277.354184; finalDepth = 264.901932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.867858 # Actual altitude: 57.867858 # Commanded vehicle depth: 264.901932 # Seafloor depth: -314.901932 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.36; 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 86 # Segment length 110.581696 meters # Minimum depth: 327.354184 meters looking forward 100.000000 meters along route # Maximum depth: 331.314311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 277.354184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798638; longitude = -121.859713; duration = 221; initialDepth = 264.636401; finalDepth = 277.354184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 277.354184 # Seafloor depth: -327.354184 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 85 # Segment length 111.852981 meters # Minimum depth: 314.636401 meters looking forward 100.000000 meters along route # Maximum depth: 326.985336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 264.636401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799570; longitude = -121.859272; duration = 223; # abortOnTimeout = True; initialDepth = 242.079092; finalDepth = 264.636401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.348935 # Actual altitude: 62.348935 # Commanded vehicle depth: 264.636401 # Seafloor depth: -326.985336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.70; 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 85 # Segment length 100.220238 meters # Minimum depth: 292.079092 meters looking forward 100.000000 meters along route # Maximum depth: 313.766661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 242.079092 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799063; longitude = -121.858189; duration = 200; initialDepth = 229.485432; finalDepth = 242.079092; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.687569 # Actual altitude: 71.687569 # Commanded vehicle depth: 242.079092 # Seafloor depth: -313.766661 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.51; 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 84 # Segment length 167.890339 meters # Minimum depth: 279.485432 meters looking forward 100.000000 meters along route # Maximum depth: 291.217110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 229.485432 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798608; longitude = -121.857218; duration = 335; # abortOnTimeout = True; initialDepth = 213.451884; finalDepth = 229.485432; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.687569 # Actual altitude: 71.687569 # Commanded vehicle depth: 229.485432 # Seafloor depth: -291.217110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.51; 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 84 # Segment length 100.704811 meters # Minimum depth: 263.451884 meters looking forward 100.000000 meters along route # Maximum depth: 280.757970 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 213.451884 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797294; longitude = -121.856284; duration = 201; initialDepth = 190.887415; finalDepth = 213.451884; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.306086 # Actual altitude: 67.306086 # Commanded vehicle depth: 213.451884 # Seafloor depth: -280.757970 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.19; 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 84 # Segment length 100.705067 meters # Minimum depth: 240.887415 meters looking forward 100.000000 meters along route # Maximum depth: 261.659390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 190.887415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796506; longitude = -121.855724; duration = 201; initialDepth = 173.549985; finalDepth = 190.887415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.771975 # Actual altitude: 70.771975 # Commanded vehicle depth: 190.887415 # Seafloor depth: -261.659390 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.23; 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 84 # Segment length 100.705325 meters # Minimum depth: 223.549985 meters looking forward 100.000000 meters along route # Maximum depth: 240.143931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 173.549985 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795718; longitude = -121.855164; duration = 201; initialDepth = 167.705208; finalDepth = 173.549985; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.771975 # Actual altitude: 70.771975 # Commanded vehicle depth: 173.549985 # Seafloor depth: -240.143931 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.23; 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 84 # Segment length 105.829072 meters # Minimum depth: 217.705208 meters looking forward 100.000000 meters along route # Maximum depth: 223.282078 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 167.705208 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794930; longitude = -121.854604; duration = 211; initialDepth = 165.151271; finalDepth = 167.705208; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 66.593946 # Actual altitude: 66.593946 # Commanded vehicle depth: 167.705208 # Seafloor depth: -223.282078 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.98; 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 83 # Segment length 115.707751 meters # Minimum depth: 215.151271 meters looking forward 100.000000 meters along route # Maximum depth: 219.291870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.151271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794102; longitude = -121.854015; duration = 231; # abortOnTimeout = True; initialDepth = 156.762912; finalDepth = 165.151271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.57687 # Actual altitude: 55.57687 # Commanded vehicle depth: 165.151271 # Seafloor depth: -219.291870 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 83 # Segment length 107.679462 meters # Minimum depth: 206.762912 meters looking forward 100.000000 meters along route # Maximum depth: 214.499452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 156.762912 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793714; longitude = -121.852811; duration = 215; initialDepth = 154.902530; finalDepth = 156.762912; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.73654 # Actual altitude: 57.73654 # Commanded vehicle depth: 156.762912 # Seafloor depth: -214.499452 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; 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 83 # Segment length 107.679924 meters # Minimum depth: 204.902530 meters looking forward 100.000000 meters along route # Maximum depth: 212.320532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 154.902530 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793354; longitude = -121.851691; duration = 215; initialDepth = 165.586067; finalDepth = 154.902530; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.73654 # Actual altitude: 57.73654 # Commanded vehicle depth: 154.90253 # Seafloor depth: -205.335252 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; 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 83 # Segment length 107.680385 meters # Minimum depth: 215.586067 meters looking forward 100.000000 meters along route # Maximum depth: 229.084778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.586067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792993; longitude = -121.850571; duration = 215; initialDepth = 180.934520; finalDepth = 165.586067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.432722 # Actual altitude: 50.432722 # Commanded vehicle depth: 165.586067 # Seafloor depth: -215.586067 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.680847 meters # Minimum depth: 230.934520 meters looking forward 100.000000 meters along route # Maximum depth: 235.247020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 180.934520 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792632; longitude = -121.849450; duration = 215; initialDepth = 176.446099; finalDepth = 180.934520; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.717033 # Actual altitude: 50.717033 # Commanded vehicle depth: 180.93452 # Seafloor depth: -231.651553 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 83 # Segment length 107.681309 meters # Minimum depth: 226.446099 meters looking forward 100.000000 meters along route # Maximum depth: 231.881138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 176.446099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792271; longitude = -121.848330; duration = 215; initialDepth = 178.757669; finalDepth = 176.446099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.435039 # Actual altitude: 55.435039 # Commanded vehicle depth: 176.446099 # Seafloor depth: -231.881138 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.681771 meters # Minimum depth: 228.757669 meters looking forward 100.000000 meters along route # Maximum depth: 234.316847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 178.757669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791910; longitude = -121.847210; duration = 215; initialDepth = 175.252824; finalDepth = 178.757669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.435039 # Actual altitude: 55.435039 # Commanded vehicle depth: 178.757669 # Seafloor depth: -228.757669 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.63; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.682232 meters # Minimum depth: 225.252824 meters looking forward 100.000000 meters along route # Maximum depth: 229.447604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 175.252824 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791550; longitude = -121.846089; duration = 215; initialDepth = 169.986241; finalDepth = 175.252824; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.19478 # Actual altitude: 54.19478 # Commanded vehicle depth: 175.252824 # Seafloor depth: -229.447604 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.682694 meters # Minimum depth: 219.986241 meters looking forward 100.000000 meters along route # Maximum depth: 224.893570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 169.986241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791189; longitude = -121.844969; duration = 215; initialDepth = 170.033219; finalDepth = 169.986241; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.907329 # Actual altitude: 54.907329 # Commanded vehicle depth: 169.986241 # Seafloor depth: -224.893570 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.683155 meters # Minimum depth: 220.033219 meters looking forward 100.000000 meters along route # Maximum depth: 223.630367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 170.033219 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790828; longitude = -121.843849; duration = 215; initialDepth = 167.453583; finalDepth = 170.033219; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.907329 # Actual altitude: 54.907329 # Commanded vehicle depth: 170.033219 # Seafloor depth: -220.033219 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.683618 meters # Minimum depth: 217.453583 meters looking forward 100.000000 meters along route # Maximum depth: 222.800425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 167.453583 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790467; longitude = -121.842728; duration = 215; initialDepth = 153.367423; finalDepth = 167.453583; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.993432 # Actual altitude: 54.993432 # Commanded vehicle depth: 167.453583 # Seafloor depth: -222.447015 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.50; 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 83 # Segment length 107.684079 meters # Minimum depth: 203.367423 meters looking forward 100.000000 meters along route # Maximum depth: 215.917263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 153.367423 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790106; longitude = -121.841608; duration = 215; initialDepth = 143.618214; finalDepth = 153.367423; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.151383 # Actual altitude: 62.151383 # Commanded vehicle depth: 153.367423 # Seafloor depth: -215.518806 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.65; 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 83 # Segment length 107.684541 meters # Minimum depth: 193.618214 meters looking forward 100.000000 meters along route # Maximum depth: 201.959968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 143.618214 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789746; longitude = -121.840488; duration = 215; initialDepth = 146.691671; finalDepth = 143.618214; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.151383 # Actual altitude: 62.151383 # Commanded vehicle depth: 143.618214 # Seafloor depth: -201.959968 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.65; 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 83 # Segment length 107.685003 meters # Minimum depth: 196.691671 meters looking forward 100.000000 meters along route # Maximum depth: 206.822103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 146.691671 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789385; longitude = -121.839367; duration = 215; initialDepth = 134.077054; finalDepth = 146.691671; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.341754 # Actual altitude: 58.341754 # Commanded vehicle depth: 146.691671 # Seafloor depth: -196.691671 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.685464 meters # Minimum depth: 184.077054 meters looking forward 100.000000 meters along route # Maximum depth: 205.347006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.077054 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789024; longitude = -121.838247; duration = 215; initialDepth = 117.516702; finalDepth = 134.077054; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.269952 # Actual altitude: 71.269952 # Commanded vehicle depth: 134.077054 # Seafloor depth: -205.347006 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.685927 meters # Minimum depth: 167.516702 meters looking forward 100.000000 meters along route # Maximum depth: 182.080901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 117.516702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788663; longitude = -121.837127; duration = 215; initialDepth = 130.358333; finalDepth = 117.516702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.269952 # Actual altitude: 71.269952 # Commanded vehicle depth: 117.516702 # Seafloor depth: -179.526909 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 107.686388 meters # Minimum depth: 180.358333 meters looking forward 100.000000 meters along route # Maximum depth: 185.408318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 130.358333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788302; longitude = -121.836006; duration = 215; initialDepth = 129.088741; finalDepth = 130.358333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.010207 # Actual altitude: 62.010207 # Commanded vehicle depth: 130.358333 # Seafloor depth: -180.671694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.60; 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 83 # Segment length 107.686851 meters # Minimum depth: 179.088741 meters looking forward 100.000000 meters along route # Maximum depth: 183.717569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 129.088741 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787942; longitude = -121.834886; duration = 215; initialDepth = 104.642323; finalDepth = 129.088741; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.628828 # Actual altitude: 54.628828 # Commanded vehicle depth: 129.088741 # Seafloor depth: -183.717569 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 83 # Segment length 106.772418 meters # Minimum depth: 154.642323 meters looking forward 100.000000 meters along route # Maximum depth: 176.971250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.642323 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787581; longitude = -121.833766; duration = 213; initialDepth = 117.682518; finalDepth = 104.642323; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 72.328927 # Actual altitude: 72.328927 # Commanded vehicle depth: 104.642323 # Seafloor depth: -176.971250 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.70; 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 82 # Segment length 176.535217 meters # Minimum depth: 167.682518 meters looking forward 100.000000 meters along route # Maximum depth: 187.010704 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 117.682518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787223; longitude = -121.832655; duration = 353; # abortOnTimeout = True; initialDepth = 137.969460; finalDepth = 117.682518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.328927 # Actual altitude: 72.328927 # Commanded vehicle depth: 117.682518 # Seafloor depth: -167.682518 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.70; 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 82 # Segment length 103.327496 meters # Minimum depth: 187.969460 meters looking forward 100.000000 meters along route # Maximum depth: 196.540466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 137.969460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787625; longitude = -121.830741; duration = 206; initialDepth = 141.831761; finalDepth = 137.969460; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.420802 # Actual altitude: 50.420802 # Commanded vehicle depth: 137.96946 # Seafloor depth: -188.390262 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.13; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 103.327226 meters # Minimum depth: 191.831761 meters looking forward 100.000000 meters along route # Maximum depth: 197.810425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 141.831761 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787861; longitude = -121.829621; duration = 206; initialDepth = 138.688750; finalDepth = 141.831761; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.550492 # Actual altitude: 54.550492 # Commanded vehicle depth: 141.831761 # Seafloor depth: -196.382253 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 82 # Segment length 103.326957 meters # Minimum depth: 188.688750 meters looking forward 100.000000 meters along route # Maximum depth: 197.458071 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 138.688750 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788096; longitude = -121.828500; duration = 206; initialDepth = 119.254528; finalDepth = 138.688750; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.769321 # Actual altitude: 58.769321 # Commanded vehicle depth: 138.68875 # Seafloor depth: -197.458071 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.63; 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 82 # Segment length 106.802510 meters # Minimum depth: 169.254528 meters looking forward 100.000000 meters along route # Maximum depth: 192.188419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 119.254528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788332; longitude = -121.827380; duration = 213; initialDepth = 116.478598; finalDepth = 119.254528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.472229 # Actual altitude: 71.472229 # Commanded vehicle depth: 119.254528 # Seafloor depth: -190.726757 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.44; 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 81 # Segment length 110.966446 meters # Minimum depth: 166.478598 meters looking forward 100.000000 meters along route # Maximum depth: 173.950080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 116.478598 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788575; longitude = -121.826222; duration = 221; # abortOnTimeout = True; initialDepth = 109.398508; finalDepth = 116.478598; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.472229 # Actual altitude: 71.472229 # Commanded vehicle depth: 116.478598 # Seafloor depth: -168.001495 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.44; 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 81 # Segment length 102.481524 meters # Minimum depth: 159.398508 meters looking forward 100.000000 meters along route # Maximum depth: 168.769438 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.398508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789356; longitude = -121.825445; duration = 204; initialDepth = 121.858555; finalDepth = 109.398508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.956843 # Actual altitude: 57.956843 # Commanded vehicle depth: 109.398508 # Seafloor depth: -167.355351 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 102.481172 meters # Minimum depth: 171.858555 meters looking forward 100.000000 meters along route # Maximum depth: 180.672913 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.858555 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790077; longitude = -121.824727; duration = 204; initialDepth = 121.436574; finalDepth = 121.858555; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.956843 # Actual altitude: 57.956843 # Commanded vehicle depth: 121.858555 # Seafloor depth: -172.841319 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 102.480821 meters # Minimum depth: 171.436574 meters looking forward 100.000000 meters along route # Maximum depth: 175.235953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.436574 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790798; longitude = -121.824009; duration = 204; initialDepth = 118.640682; finalDepth = 121.436574; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.982764 # Actual altitude: 50.982764 # Commanded vehicle depth: 121.436574 # Seafloor depth: -171.769835 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.29; 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 81 # Segment length 103.944655 meters # Minimum depth: 168.640682 meters looking forward 100.000000 meters along route # Maximum depth: 180.531108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 118.640682 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791519; longitude = -121.823291; duration = 207; initialDepth = 127.093270; finalDepth = 118.640682; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.505436 # Actual altitude: 52.505436 # Commanded vehicle depth: 118.640682 # Seafloor depth: -171.146118 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 101.015935 meters # Minimum depth: 177.093270 meters looking forward 100.000000 meters along route # Maximum depth: 186.555461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 127.093270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792250; longitude = -121.822563; duration = 202; initialDepth = 116.801350; finalDepth = 127.093270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.505436 # Actual altitude: 52.505436 # Commanded vehicle depth: 127.09327 # Seafloor depth: -177.982730 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.75; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 81 # Segment length 106.876811 meters # Minimum depth: 166.801350 meters looking forward 100.000000 meters along route # Maximum depth: 178.519928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 116.801350 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792961; longitude = -121.821855; duration = 213; initialDepth = 109.760673; finalDepth = 116.801350; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.5241 # Actual altitude: 61.5241 # Commanded vehicle depth: 116.80135 # Seafloor depth: -178.325450 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.46; 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 81 # Segment length 106.662611 meters # Minimum depth: 159.760673 meters looking forward 100.000000 meters along route # Maximum depth: 167.603059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.760673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793713; longitude = -121.821106; duration = 213; initialDepth = 97.207237; finalDepth = 109.760673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.5241 # Actual altitude: 61.5241 # Commanded vehicle depth: 109.760673 # Seafloor depth: -167.603059 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.46; 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 80 # Segment length 114.087211 meters # Minimum depth: 147.207237 meters looking forward 100.000000 meters along route # Maximum depth: 156.984688 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 97.207237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794463; longitude = -121.820359; duration = 228; # abortOnTimeout = True; initialDepth = 107.028332; finalDepth = 97.207237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.842386 # Actual altitude: 57.842386 # Commanded vehicle depth: 97.207237 # Seafloor depth: -154.918278 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.35; 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 80 # Segment length 100.693138 meters # Minimum depth: 157.028332 meters looking forward 100.000000 meters along route # Maximum depth: 158.886176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 107.028332 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795484; longitude = -121.820208; duration = 201; initialDepth = 108.352412; finalDepth = 107.028332; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.711041 # Actual altitude: 57.711041 # Commanded vehicle depth: 107.028332 # Seafloor depth: -157.028332 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.31; 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 80 # Segment length 100.693141 meters # Minimum depth: 158.352412 meters looking forward 100.000000 meters along route # Maximum depth: 162.949208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 108.352412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.820075; duration = 201; initialDepth = 98.173270; finalDepth = 108.352412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.178684 # Actual altitude: 50.178684 # Commanded vehicle depth: 108.352412 # Seafloor depth: -158.531096 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.05; 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 80 # Segment length 107.414004 meters # Minimum depth: 148.173270 meters looking forward 100.000000 meters along route # Maximum depth: 163.503188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 98.173270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797287; longitude = -121.819941; duration = 214; initialDepth = 95.811999; finalDepth = 98.173270; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.329918 # Actual altitude: 65.329918 # Commanded vehicle depth: 98.17327 # Seafloor depth: -163.503188 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 79 # Segment length 106.262769 meters # Minimum depth: 145.811999 meters looking forward 100.000000 meters along route # Maximum depth: 152.911052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 95.811999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798248; longitude = -121.819799; duration = 212; # abortOnTimeout = True; initialDepth = 104.197895; finalDepth = 95.811999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 65.329918 # Actual altitude: 65.329918 # Commanded vehicle depth: 95.811999 # Seafloor depth: -147.131371 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 78 # Segment length 168.155173 meters # Minimum depth: 154.197895 meters looking forward 100.000000 meters along route # Maximum depth: 178.164777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.197895 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798879; longitude = -121.820695; duration = 336; # abortOnTimeout = True; initialDepth = 130.526300; finalDepth = 104.197895; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.319372 # Actual altitude: 51.319372 # Commanded vehicle depth: 104.197895 # Seafloor depth: -154.197895 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.40; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 78 # Segment length 100.879486 meters # Minimum depth: 180.526300 meters looking forward 100.000000 meters along route # Maximum depth: 190.029564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 130.526300 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797377; longitude = -121.820945; duration = 201; initialDepth = 142.837532; finalDepth = 130.526300; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.520185 # Actual altitude: 50.520185 # Commanded vehicle depth: 130.5263 # Seafloor depth: -181.046485 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 100.879489 meters # Minimum depth: 192.837532 meters looking forward 100.000000 meters along route # Maximum depth: 199.767988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 142.837532 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796475; longitude = -121.821095; duration = 201; initialDepth = 140.481002; finalDepth = 142.837532; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.520185 # Actual altitude: 50.520185 # Commanded vehicle depth: 142.837532 # Seafloor depth: -192.837532 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 78 # Segment length 107.596205 meters # Minimum depth: 190.481002 meters looking forward 100.000000 meters along route # Maximum depth: 199.448164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 140.481002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795574; longitude = -121.821245; duration = 215; initialDepth = 138.965103; finalDepth = 140.481002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.255299 # Actual altitude: 58.255299 # Commanded vehicle depth: 140.481002 # Seafloor depth: -198.736301 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.48; 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 77 # Segment length 83.948924 meters # Minimum depth: 188.965103 meters looking forward 100.000000 meters along route # Maximum depth: 207.546077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 138.965103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794613; longitude = -121.821405; duration = 167; # abortOnTimeout = True; initialDepth = 157.924363; finalDepth = 138.965103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.255299 # Actual altitude: 58.255299 # Commanded vehicle depth: 138.965103 # Seafloor depth: -188.965103 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.48; 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 77 # Segment length 106.026858 meters # Minimum depth: 207.924363 meters looking forward 100.000000 meters along route # Maximum depth: 215.371753 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 157.924363 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.822023; duration = 212; initialDepth = 165.555893; finalDepth = 157.924363; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 157.924363 # Seafloor depth: -207.924363 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 106.027260 meters # Minimum depth: 215.555893 meters looking forward 100.000000 meters along route # Maximum depth: 219.977496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.555893 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.822802; duration = 212; initialDepth = 169.543791; finalDepth = 165.555893; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 165.555893 # Seafloor depth: -215.555893 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 106.027662 meters # Minimum depth: 219.543791 meters looking forward 100.000000 meters along route # Maximum depth: 220.914949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 169.543791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792600; longitude = -121.823582; duration = 212; initialDepth = 168.855484; finalDepth = 169.543791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.539197 # Actual altitude: 50.539197 # Commanded vehicle depth: 169.543791 # Seafloor depth: -220.082988 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 106.028064 meters # Minimum depth: 218.855484 meters looking forward 100.000000 meters along route # Maximum depth: 220.708641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 168.855484 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791879; longitude = -121.824362; duration = 212; initialDepth = 167.888201; finalDepth = 168.855484; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.650237 # Actual altitude: 51.650237 # Commanded vehicle depth: 168.855484 # Seafloor depth: -220.505721 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 106.203337 meters # Minimum depth: 217.888201 meters looking forward 100.000000 meters along route # Maximum depth: 218.881339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 167.888201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791158; longitude = -121.825142; duration = 212; initialDepth = 167.531571; finalDepth = 167.888201; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.650237 # Actual altitude: 51.650237 # Commanded vehicle depth: 167.888201 # Seafloor depth: -218.840547 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 77 # Segment length 101.468780 meters # Minimum depth: 217.531571 meters looking forward 100.000000 meters along route # Maximum depth: 219.058949 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 167.531571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790436; longitude = -121.825924; duration = 202; initialDepth = 165.859760; finalDepth = 167.531571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.313142 # Actual altitude: 51.313142 # Commanded vehicle depth: 167.531571 # Seafloor depth: -218.844713 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 76 # Segment length 87.286851 meters # Minimum depth: 215.859760 meters looking forward 100.000000 meters along route # Maximum depth: 224.156769 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.859760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789746; longitude = -121.826670; duration = 174; # abortOnTimeout = True; initialDepth = 174.356553; finalDepth = 165.859760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.313142 # Actual altitude: 51.313142 # Commanded vehicle depth: 165.85976 # Seafloor depth: -215.859760 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 76 # Segment length 104.691959 meters # Minimum depth: 224.356553 meters looking forward 100.000000 meters along route # Maximum depth: 229.043096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 174.356553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789512; longitude = -121.827604; duration = 209; initialDepth = 179.249843; finalDepth = 174.356553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 174.356553 # Seafloor depth: -224.356553 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 104.692279 meters # Minimum depth: 229.249843 meters looking forward 100.000000 meters along route # Maximum depth: 232.766039 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 179.249843 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789232; longitude = -121.828724; duration = 209; initialDepth = 180.133509; finalDepth = 179.249843; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 179.249843 # Seafloor depth: -229.249843 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 104.692600 meters # Minimum depth: 230.133509 meters looking forward 100.000000 meters along route # Maximum depth: 234.014366 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 180.133509 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788952; longitude = -121.829845; duration = 209; initialDepth = 165.340785; finalDepth = 180.133509; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.880857 # Actual altitude: 53.880857 # Commanded vehicle depth: 180.133509 # Seafloor depth: -234.014366 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 76 # Segment length 103.354301 meters # Minimum depth: 215.340785 meters looking forward 100.000000 meters along route # Maximum depth: 227.971450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 165.340785 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788672; longitude = -121.830965; duration = 206; initialDepth = 164.508564; finalDepth = 165.340785; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 62.630665 # Actual altitude: 62.630665 # Commanded vehicle depth: 165.340785 # Seafloor depth: -227.971450 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.79; 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 75 # Segment length 130.599076 meters # Minimum depth: 214.508564 meters looking forward 100.000000 meters along route # Maximum depth: 221.443601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 164.508564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788395; longitude = -121.832071; duration = 261; # abortOnTimeout = True; initialDepth = 170.529269; finalDepth = 164.508564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.630665 # Actual altitude: 62.630665 # Commanded vehicle depth: 164.508564 # Seafloor depth: -214.508564 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.79; 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 75 # Segment length 107.684655 meters # Minimum depth: 220.529269 meters looking forward 100.000000 meters along route # Maximum depth: 223.484147 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 170.529269 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788833; longitude = -121.833430; duration = 215; initialDepth = 173.452543; finalDepth = 170.529269; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.851706 # Actual altitude: 50.851706 # Commanded vehicle depth: 170.529269 # Seafloor depth: -221.380975 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.684194 meters # Minimum depth: 223.452543 meters looking forward 100.000000 meters along route # Maximum depth: 232.051720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 173.452543 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789193; longitude = -121.834550; duration = 215; initialDepth = 179.833976; finalDepth = 173.452543; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.851706 # Actual altitude: 50.851706 # Commanded vehicle depth: 173.452543 # Seafloor depth: -223.544917 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.683731 meters # Minimum depth: 229.833976 meters looking forward 100.000000 meters along route # Maximum depth: 239.915177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 179.833976 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789554; longitude = -121.835670; duration = 215; initialDepth = 190.579096; finalDepth = 179.833976; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.541865 # Actual altitude: 51.541865 # Commanded vehicle depth: 179.833976 # Seafloor depth: -231.375841 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.683269 meters # Minimum depth: 240.579096 meters looking forward 100.000000 meters along route # Maximum depth: 245.674273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 190.579096 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789915; longitude = -121.836791; duration = 215; initialDepth = 192.716953; finalDepth = 190.579096; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.541865 # Actual altitude: 51.541865 # Commanded vehicle depth: 190.579096 # Seafloor depth: -240.579096 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.682808 meters # Minimum depth: 242.716953 meters looking forward 100.000000 meters along route # Maximum depth: 249.885615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 192.716953 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790276; longitude = -121.837911; duration = 215; initialDepth = 184.196675; finalDepth = 192.716953; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.017732 # Actual altitude: 54.017732 # Commanded vehicle depth: 192.716953 # Seafloor depth: -246.734685 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.682345 meters # Minimum depth: 234.196675 meters looking forward 100.000000 meters along route # Maximum depth: 245.503711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 184.196675 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790636; longitude = -121.839031; duration = 215; initialDepth = 180.152979; finalDepth = 184.196675; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.100725 # Actual altitude: 61.100725 # Commanded vehicle depth: 184.196675 # Seafloor depth: -245.297400 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.681884 meters # Minimum depth: 230.152979 meters looking forward 100.000000 meters along route # Maximum depth: 248.538599 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 180.152979 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790997; longitude = -121.840152; duration = 215; initialDepth = 200.292306; finalDepth = 180.152979; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.100725 # Actual altitude: 61.100725 # Commanded vehicle depth: 180.152979 # Seafloor depth: -233.486413 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.33; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.681422 meters # Minimum depth: 250.292306 meters looking forward 100.000000 meters along route # Maximum depth: 262.223646 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 200.292306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791358; longitude = -121.841272; duration = 215; initialDepth = 212.141600; finalDepth = 200.292306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.333434 # Actual altitude: 53.333434 # Commanded vehicle depth: 200.292306 # Seafloor depth: -250.292306 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.680961 meters # Minimum depth: 262.141600 meters looking forward 100.000000 meters along route # Maximum depth: 273.673075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 212.141600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791719; longitude = -121.842392; duration = 215; initialDepth = 224.706482; finalDepth = 212.141600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.486943 # Actual altitude: 51.486943 # Commanded vehicle depth: 212.1416 # Seafloor depth: -263.628543 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; 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 75 # Segment length 107.680498 meters # Minimum depth: 274.706482 meters looking forward 100.000000 meters along route # Maximum depth: 285.404783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 224.706482 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792080; longitude = -121.843513; duration = 215; initialDepth = 234.358542; finalDepth = 224.706482; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.486943 # Actual altitude: 51.486943 # Commanded vehicle depth: 224.706482 # Seafloor depth: -274.706482 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; 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 75 # Segment length 107.680037 meters # Minimum depth: 284.358542 meters looking forward 100.000000 meters along route # Maximum depth: 288.854242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 234.358542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792440; longitude = -121.844633; duration = 215; initialDepth = 225.282384; finalDepth = 234.358542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 234.358542 # Seafloor depth: -284.358542 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.679575 meters # Minimum depth: 275.282384 meters looking forward 100.000000 meters along route # Maximum depth: 289.243362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 225.282384 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792801; longitude = -121.845753; duration = 215; initialDepth = 224.258582; finalDepth = 225.282384; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.509529 # Actual altitude: 62.509529 # Commanded vehicle depth: 225.282384 # Seafloor depth: -287.791913 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.75; 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 75 # Segment length 107.679113 meters # Minimum depth: 274.258582 meters looking forward 100.000000 meters along route # Maximum depth: 278.548980 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 224.258582 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793162; longitude = -121.846873; duration = 215; initialDepth = 226.232595; finalDepth = 224.258582; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.509529 # Actual altitude: 62.509529 # Commanded vehicle depth: 224.258582 # Seafloor depth: -277.119676 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.75; 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 75 # Segment length 107.678652 meters # Minimum depth: 276.232595 meters looking forward 100.000000 meters along route # Maximum depth: 283.724266 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 226.232595 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793523; longitude = -121.847994; duration = 215; initialDepth = 229.867986; finalDepth = 226.232595; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.861094 # Actual altitude: 52.861094 # Commanded vehicle depth: 226.232595 # Seafloor depth: -276.232595 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 107.678190 meters # Minimum depth: 279.867986 meters looking forward 100.000000 meters along route # Maximum depth: 285.868083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 229.867986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793883; longitude = -121.849114; duration = 215; initialDepth = 220.510479; finalDepth = 229.867986; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.680775 # Actual altitude: 55.680775 # Commanded vehicle depth: 229.867986 # Seafloor depth: -285.548761 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 101.061709 meters # Minimum depth: 270.510479 meters looking forward 100.000000 meters along route # Maximum depth: 279.739148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 220.510479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794244; longitude = -121.850234; duration = 202; initialDepth = 205.378449; finalDepth = 220.510479; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.680775 # Actual altitude: 55.680775 # Commanded vehicle depth: 220.510479 # Seafloor depth: -275.502178 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.70; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 75 # Segment length 103.525581 meters # Minimum depth: 255.378449 meters looking forward 100.000000 meters along route # Maximum depth: 270.037450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 205.378449 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794583; longitude = -121.851286; duration = 207; initialDepth = 182.853547; finalDepth = 205.378449; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.659001 # Actual altitude: 64.659001 # Commanded vehicle depth: 205.378449 # Seafloor depth: -270.037450 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.40; 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 75 # Segment length 102.742323 meters # Minimum depth: 232.853547 meters looking forward 100.000000 meters along route # Maximum depth: 251.841682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 182.853547 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794930; longitude = -121.852363; duration = 205; initialDepth = 182.324844; finalDepth = 182.853547; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 68.988135 # Actual altitude: 68.988135 # Commanded vehicle depth: 182.853547 # Seafloor depth: -251.841682 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.70; 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 74 # Segment length 98.064835 meters # Minimum depth: 232.324844 meters looking forward 100.000000 meters along route # Maximum depth: 268.586159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 182.324844 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795274; longitude = -121.853432; duration = 196; # abortOnTimeout = True; initialDepth = 220.003175; finalDepth = 182.324844; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.988135 # Actual altitude: 68.988135 # Commanded vehicle depth: 182.324844 # Seafloor depth: -232.324844 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.70; 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 74 # Segment length 100.071241 meters # Minimum depth: 270.003175 meters looking forward 100.000000 meters along route # Maximum depth: 285.697117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 220.003175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796025; longitude = -121.854012; duration = 200; initialDepth = 222.855835; finalDepth = 220.003175; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 220.003175 # Seafloor depth: -270.003175 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 100.024588 meters # Minimum depth: 272.855835 meters looking forward 100.000000 meters along route # Maximum depth: 279.389151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 222.855835 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796791; longitude = -121.854604; duration = 200; initialDepth = 226.252067; finalDepth = 222.855835; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.577349 # Actual altitude: 53.577349 # Commanded vehicle depth: 222.855835 # Seafloor depth: -276.433184 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 108.373529 meters # Minimum depth: 276.252067 meters looking forward 100.000000 meters along route # Maximum depth: 282.075777 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 226.252067 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797557; longitude = -121.855195; duration = 216; initialDepth = 231.488131; finalDepth = 226.252067; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.577349 # Actual altitude: 53.577349 # Commanded vehicle depth: 226.252067 # Seafloor depth: -276.252067 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 74 # Segment length 107.381890 meters # Minimum depth: 281.488131 meters looking forward 100.000000 meters along route # Maximum depth: 287.463014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 231.488131 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798387; longitude = -121.855836; duration = 214; initialDepth = 239.037834; finalDepth = 231.488131; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.373726 # Actual altitude: 50.373726 # Commanded vehicle depth: 231.488131 # Seafloor depth: -281.861857 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 73 # Segment length 160.651749 meters # Minimum depth: 289.037834 meters looking forward 100.000000 meters along route # Maximum depth: 307.497094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 239.037834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799209; longitude = -121.856471; duration = 321; # abortOnTimeout = True; initialDepth = 254.604605; finalDepth = 239.037834; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.373726 # Actual altitude: 50.373726 # Commanded vehicle depth: 239.037834 # Seafloor depth: -289.037834 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 73 # Segment length 101.015905 meters # Minimum depth: 304.604605 meters looking forward 100.000000 meters along route # Maximum depth: 307.512113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 254.604605 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800261; longitude = -121.857709; duration = 202; initialDepth = 258.853020; finalDepth = 254.604605; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.925222 # Actual altitude: 51.925222 # Commanded vehicle depth: 254.604605 # Seafloor depth: -306.529827 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 72 # Segment length 133.423779 meters # Minimum depth: 308.853020 meters looking forward 100.000000 meters along route # Maximum depth: 331.067130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 258.853020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800922; longitude = -121.858487; duration = 266; # abortOnTimeout = True; initialDepth = 282.558136; finalDepth = 258.853020; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.925222 # Actual altitude: 51.925222 # Commanded vehicle depth: 258.85302 # Seafloor depth: -308.853020 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 71 # Segment length 170.013250 meters # Minimum depth: 332.558136 meters looking forward 100.000000 meters along route # Maximum depth: 353.350431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 282.558136 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800651; longitude = -121.859944; duration = 340; # abortOnTimeout = True; initialDepth = 303.409106; finalDepth = 282.558136; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 282.558136 # Seafloor depth: -332.558136 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 71 # Segment length 107.217626 meters # Minimum depth: 353.409106 meters looking forward 100.000000 meters along route # Maximum depth: 362.343163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 303.409106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799269; longitude = -121.860768; duration = 214; initialDepth = 313.005829; finalDepth = 303.409106; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 303.409106 # Seafloor depth: -353.409106 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 70 # Segment length 155.230368 meters # Minimum depth: 363.005829 meters looking forward 100.000000 meters along route # Maximum depth: 368.786251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 313.005829 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798398; longitude = -121.861288; duration = 310; # abortOnTimeout = True; initialDepth = 318.812627; finalDepth = 313.005829; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 313.005829 # Seafloor depth: -363.005829 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 70 # Segment length 105.138194 meters # Minimum depth: 368.812627 meters looking forward 100.000000 meters along route # Maximum depth: 371.444404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 318.812627 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797354; longitude = -121.862446; duration = 210; initialDepth = 319.908959; finalDepth = 318.812627; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 318.812627 # Seafloor depth: -368.812627 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 70 # Segment length 110.192689 meters # Minimum depth: 369.908959 meters looking forward 100.000000 meters along route # Maximum depth: 376.420210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 319.908959 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796646; longitude = -121.863230; duration = 220; initialDepth = 326.880775; finalDepth = 319.908959; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 319.908959 # Seafloor depth: -369.908959 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 69 # Segment length 179.835869 meters # Minimum depth: 376.880775 meters looking forward 100.000000 meters along route # Maximum depth: 379.831628 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 326.880775 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795905; longitude = -121.864052; duration = 359; # abortOnTimeout = True; initialDepth = 328.634140; finalDepth = 326.880775; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 326.880775 # Seafloor depth: -376.880775 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 69 # Segment length 107.922543 meters # Minimum depth: 378.634140 meters looking forward 100.000000 meters along route # Maximum depth: 380.647507 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 328.634140 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795294; longitude = -121.865919; duration = 215; initialDepth = 330.276512; finalDepth = 328.634140; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 328.63414 # Seafloor depth: -378.634140 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.922957 meters # Minimum depth: 380.276512 meters looking forward 100.000000 meters along route # Maximum depth: 382.227211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.276512 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794927; longitude = -121.867039; duration = 215; initialDepth = 331.944023; finalDepth = 330.276512; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.402917 # Actual altitude: 50.402917 # Commanded vehicle depth: 330.276512 # Seafloor depth: -380.679429 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.923371 meters # Minimum depth: 381.944023 meters looking forward 100.000000 meters along route # Maximum depth: 384.463163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 331.944023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794561; longitude = -121.868159; duration = 215; initialDepth = 330.270600; finalDepth = 331.944023; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.402917 # Actual altitude: 50.402917 # Commanded vehicle depth: 331.944023 # Seafloor depth: -381.944023 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.923784 meters # Minimum depth: 380.270600 meters looking forward 100.000000 meters along route # Maximum depth: 383.352548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.270600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794194; longitude = -121.869280; duration = 215; initialDepth = 328.083987; finalDepth = 330.270600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.081948 # Actual altitude: 53.081948 # Commanded vehicle depth: 330.2706 # Seafloor depth: -383.352548 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.924198 meters # Minimum depth: 378.083987 meters looking forward 100.000000 meters along route # Maximum depth: 379.890626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 328.083987 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793827; longitude = -121.870400; duration = 215; initialDepth = 328.417701; finalDepth = 328.083987; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.081948 # Actual altitude: 53.081948 # Commanded vehicle depth: 328.083987 # Seafloor depth: -379.297398 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.924611 meters # Minimum depth: 378.417701 meters looking forward 100.000000 meters along route # Maximum depth: 380.524421 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 328.417701 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793460; longitude = -121.871520; duration = 215; initialDepth = 329.752784; finalDepth = 328.417701; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.213411 # Actual altitude: 51.213411 # Commanded vehicle depth: 328.417701 # Seafloor depth: -379.542568 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.36; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.925026 meters # Minimum depth: 379.752784 meters looking forward 100.000000 meters along route # Maximum depth: 388.484890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 329.752784 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793094; longitude = -121.872641; duration = 215; initialDepth = 336.343793; finalDepth = 329.752784; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.124867 # Actual altitude: 51.124867 # Commanded vehicle depth: 329.752784 # Seafloor depth: -379.752784 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.925439 meters # Minimum depth: 386.343793 meters looking forward 100.000000 meters along route # Maximum depth: 394.523341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 336.343793 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792727; longitude = -121.873761; duration = 215; initialDepth = 344.685260; finalDepth = 336.343793; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.710996 # Actual altitude: 52.710996 # Commanded vehicle depth: 336.343793 # Seafloor depth: -389.054789 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 107.925853 meters # Minimum depth: 394.685260 meters looking forward 100.000000 meters along route # Maximum depth: 401.677966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 344.685260 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792360; longitude = -121.874881; duration = 215; initialDepth = 342.802544; finalDepth = 344.685260; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.710996 # Actual altitude: 52.710996 # Commanded vehicle depth: 344.68526 # Seafloor depth: -396.890358 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.81; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 69 # Segment length 104.363045 meters # Minimum depth: 392.802544 meters looking forward 100.000000 meters along route # Maximum depth: 402.536320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 342.802544 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791994; longitude = -121.876002; duration = 208; initialDepth = 340.010307; finalDepth = 342.802544; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.657223 # Actual altitude: 57.657223 # Commanded vehicle depth: 342.802544 # Seafloor depth: -400.459767 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 68 # Segment length 111.278065 meters # Minimum depth: 390.010307 meters looking forward 100.000000 meters along route # Maximum depth: 411.332218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.010307 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791639; longitude = -121.877085; duration = 222; # abortOnTimeout = True; initialDepth = 360.881406; finalDepth = 340.010307; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.657223 # Actual altitude: 57.657223 # Commanded vehicle depth: 340.010307 # Seafloor depth: -390.010307 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 68 # Segment length 102.556142 meters # Minimum depth: 410.881406 meters looking forward 100.000000 meters along route # Maximum depth: 413.125130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 360.881406 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792186; longitude = -121.878130; duration = 205; initialDepth = 362.727980; finalDepth = 360.881406; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 360.881406 # Seafloor depth: -410.881406 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 100.196513 meters # Minimum depth: 412.727980 meters looking forward 100.000000 meters along route # Maximum depth: 415.185008 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 362.727980 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792690; longitude = -121.879094; duration = 200; initialDepth = 364.766234; finalDepth = 362.727980; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 362.72798 # Seafloor depth: -412.727980 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 101.449604 meters # Minimum depth: 414.766234 meters looking forward 100.000000 meters along route # Maximum depth: 418.518032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 364.766234 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793183; longitude = -121.880035; duration = 202; initialDepth = 366.691039; finalDepth = 364.766234; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.409378 # Actual altitude: 50.409378 # Commanded vehicle depth: 364.766234 # Seafloor depth: -415.175612 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 101.301131 meters # Minimum depth: 416.691039 meters looking forward 100.000000 meters along route # Maximum depth: 418.742073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 366.691039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793682; longitude = -121.880988; duration = 202; initialDepth = 368.571643; finalDepth = 366.691039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.409378 # Actual altitude: 50.409378 # Commanded vehicle depth: 366.691039 # Seafloor depth: -417.098503 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 107.337846 meters # Minimum depth: 418.571643 meters looking forward 100.000000 meters along route # Maximum depth: 421.375624 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 368.571643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794180; longitude = -121.881939; duration = 214; initialDepth = 370.663730; finalDepth = 368.571643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.407464 # Actual altitude: 50.407464 # Commanded vehicle depth: 368.571643 # Seafloor depth: -418.825101 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.12; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 68 # Segment length 102.992194 meters # Minimum depth: 420.663730 meters looking forward 100.000000 meters along route # Maximum depth: 422.464121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 370.663730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794707; longitude = -121.882948; duration = 205; initialDepth = 363.620970; finalDepth = 370.663730; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.50411 # Actual altitude: 50.50411 # Commanded vehicle depth: 370.66373 # Seafloor depth: -421.167840 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 68 # Segment length 103.783744 meters # Minimum depth: 413.620970 meters looking forward 100.000000 meters along route # Maximum depth: 420.133866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 363.620970 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795214; longitude = -121.883915; duration = 207; initialDepth = 330.502253; finalDepth = 363.620970; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.512896 # Actual altitude: 56.512896 # Commanded vehicle depth: 363.62097 # Seafloor depth: -420.133866 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.95; 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 to get to end of line 67 # Segment length 159.241483 meters # Minimum depth: 380.502253 meters looking forward 100.000000 meters along route # Maximum depth: 411.093300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 330.502253 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795724; longitude = -121.884890; duration = 318; # abortOnTimeout = True; initialDepth = 332.277542; finalDepth = 330.502253; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.591047 # Actual altitude: 80.591047 # Commanded vehicle depth: 330.502253 # Seafloor depth: -411.093300 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.18; 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 67 # Segment length 101.672426 meters # Minimum depth: 382.277542 meters looking forward 100.000000 meters along route # Maximum depth: 394.971754 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 332.277542 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795462; longitude = -121.886645; duration = 203; initialDepth = 345.663249; finalDepth = 332.277542; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 80.591047 # Actual altitude: 80.591047 # Commanded vehicle depth: 332.277542 # Seafloor depth: -383.080078 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.18; 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 67 # Segment length 101.672615 meters # Minimum depth: 395.663249 meters looking forward 100.000000 meters along route # Maximum depth: 402.175528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 345.663249 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795294; longitude = -121.887765; duration = 203; initialDepth = 352.167694; finalDepth = 345.663249; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.802536 # Actual altitude: 50.802536 # Commanded vehicle depth: 345.663249 # Seafloor depth: -395.663249 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 101.672804 meters # Minimum depth: 402.167694 meters looking forward 100.000000 meters along route # Maximum depth: 411.308057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.167694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795127; longitude = -121.888885; duration = 203; initialDepth = 361.939888; finalDepth = 352.167694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 352.167694 # Seafloor depth: -402.167694 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 101.672994 meters # Minimum depth: 411.939888 meters looking forward 100.000000 meters along route # Maximum depth: 428.856006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 361.939888 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794959; longitude = -121.890006; duration = 203; initialDepth = 376.016237; finalDepth = 361.939888; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 361.939888 # Seafloor depth: -411.939888 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 67 # Segment length 108.457966 meters # Minimum depth: 426.016237 meters looking forward 100.000000 meters along route # Maximum depth: 445.069184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 376.016237 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794792; longitude = -121.891126; duration = 216; initialDepth = 395.069184; finalDepth = 376.016237; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 376.016237 # Seafloor depth: -426.016237 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 66 # Segment length 90.214642 meters # Minimum depth: 445.069184 meters looking forward 100.000000 meters along route # Maximum depth: 449.446685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 395.069184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794613; longitude = -121.892321; duration = 180; # abortOnTimeout = True; initialDepth = 389.154252; finalDepth = 395.069184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.769821 # Actual altitude: 50.769821 # Commanded vehicle depth: 395.069184 # Seafloor depth: -445.839005 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 66 # Segment length 101.561254 meters # Minimum depth: 439.154252 meters looking forward 100.000000 meters along route # Maximum depth: 448.598830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 389.154252 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795192; longitude = -121.893030; duration = 203; initialDepth = 392.529803; finalDepth = 389.154252; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.444578 # Actual altitude: 59.444578 # Commanded vehicle depth: 389.154252 # Seafloor depth: -448.598830 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 112.265332 meters # Minimum depth: 442.529803 meters looking forward 100.000000 meters along route # Maximum depth: 448.726127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 392.529803 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.893829; duration = 224; initialDepth = 398.736368; finalDepth = 392.529803; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.444578 # Actual altitude: 59.444578 # Commanded vehicle depth: 392.529803 # Seafloor depth: -442.529803 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 112.264799 meters # Minimum depth: 448.736368 meters looking forward 100.000000 meters along route # Maximum depth: 461.722508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 398.736368 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796566; longitude = -121.894712; duration = 224; initialDepth = 414.072771; finalDepth = 398.736368; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 398.736368 # Seafloor depth: -448.736368 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 101.280025 meters # Minimum depth: 464.072771 meters looking forward 100.000000 meters along route # Maximum depth: 475.902387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 414.072771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797287; longitude = -121.895595; duration = 202; initialDepth = 423.227562; finalDepth = 414.072771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.139024 # Actual altitude: 50.139024 # Commanded vehicle depth: 414.072771 # Seafloor depth: -464.211795 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 66 # Segment length 104.471229 meters # Minimum depth: 473.227562 meters looking forward 100.000000 meters along route # Maximum depth: 476.127943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 423.227562 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797937; longitude = -121.896391; duration = 208; initialDepth = 407.537041; finalDepth = 423.227562; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.900381 # Actual altitude: 52.900381 # Commanded vehicle depth: 423.227562 # Seafloor depth: -476.127943 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 65 # Segment length 114.093498 meters # Minimum depth: 457.537041 meters looking forward 100.000000 meters along route # Maximum depth: 474.794395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 407.537041 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798608; longitude = -121.897213; duration = 228; # abortOnTimeout = True; initialDepth = 405.238430; finalDepth = 407.537041; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.257354 # Actual altitude: 67.257354 # Commanded vehicle depth: 407.537041 # Seafloor depth: -474.794395 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 65 # Segment length 110.566489 meters # Minimum depth: 455.238430 meters looking forward 100.000000 meters along route # Maximum depth: 464.254816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 405.238430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798242; longitude = -121.898408; duration = 221; initialDepth = 414.428085; finalDepth = 405.238430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 67.257354 # Actual altitude: 67.257354 # Commanded vehicle depth: 405.23843 # Seafloor depth: -456.527178 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 64 # Segment length 108.585792 meters # Minimum depth: 464.428085 meters looking forward 100.000000 meters along route # Maximum depth: 478.152264 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 414.428085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797887; longitude = -121.899566; duration = 217; # abortOnTimeout = True; initialDepth = 429.977788; finalDepth = 414.428085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.288748 # Actual altitude: 51.288748 # Commanded vehicle depth: 414.428085 # Seafloor depth: -464.428085 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 64 # Segment length 101.131969 meters # Minimum depth: 479.977788 meters looking forward 100.000000 meters along route # Maximum depth: 486.313878 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 429.977788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797440; longitude = -121.900649; duration = 202; initialDepth = 426.145549; finalDepth = 429.977788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.166131 # Actual altitude: 50.166131 # Commanded vehicle depth: 429.977788 # Seafloor depth: -480.143919 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.05; 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 64 # Segment length 101.132379 meters # Minimum depth: 476.145549 meters looking forward 100.000000 meters along route # Maximum depth: 483.614070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 426.145549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797023; longitude = -121.901657; duration = 202; initialDepth = 420.664329; finalDepth = 426.145549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.146048 # Actual altitude: 57.146048 # Commanded vehicle depth: 426.145549 # Seafloor depth: -483.291597 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.14; 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 64 # Segment length 104.898834 meters # Minimum depth: 470.664329 meters looking forward 100.000000 meters along route # Maximum depth: 480.812990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 420.664329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796607; longitude = -121.902665; duration = 209; initialDepth = 415.163616; finalDepth = 420.664329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.534375 # Actual altitude: 57.534375 # Commanded vehicle depth: 420.664329 # Seafloor depth: -478.198704 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 63 # Segment length 135.370974 meters # Minimum depth: 465.163616 meters looking forward 100.000000 meters along route # Maximum depth: 486.492139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 415.163616 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796175; longitude = -121.903711; duration = 270; # abortOnTimeout = True; initialDepth = 435.259284; finalDepth = 415.163616; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.31741 # Actual altitude: 63.31741 # Commanded vehicle depth: 415.163616 # Seafloor depth: -478.481026 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.00; 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 62 # Segment length 124.568546 meters # Minimum depth: 485.259284 meters looking forward 100.000000 meters along route # Maximum depth: 492.114154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 435.259284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794973; longitude = -121.903972; duration = 249; # abortOnTimeout = True; initialDepth = 442.770347; finalDepth = 435.259284; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.31741 # Actual altitude: 63.31741 # Commanded vehicle depth: 435.259284 # Seafloor depth: -485.443237 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.00; 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 101.039688 meters # Minimum depth: 492.770347 meters looking forward 100.000000 meters along route # Maximum depth: 508.094863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 442.770347 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793862; longitude = -121.903771; duration = 202; initialDepth = 454.544322; finalDepth = 442.770347; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.183953 # Actual altitude: 50.183953 # Commanded vehicle depth: 442.770347 # Seafloor depth: -492.770347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.039701 meters # Minimum depth: 504.544322 meters looking forward 100.000000 meters along route # Maximum depth: 516.103371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 454.544322 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792961; longitude = -121.903608; duration = 202; initialDepth = 457.215792; finalDepth = 454.544322; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.032717 # Actual altitude: 54.032717 # Commanded vehicle depth: 454.544322 # Seafloor depth: -508.577039 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.039714 meters # Minimum depth: 507.215792 meters looking forward 100.000000 meters along route # Maximum depth: 520.808371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 457.215792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792059; longitude = -121.903445; duration = 202; initialDepth = 470.651722; finalDepth = 457.215792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.032717 # Actual altitude: 54.032717 # Commanded vehicle depth: 457.215792 # Seafloor depth: -510.095386 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.039728 meters # Minimum depth: 520.651722 meters looking forward 100.000000 meters along route # Maximum depth: 524.157155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 470.651722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791158; longitude = -121.903282; duration = 202; initialDepth = 474.959524; finalDepth = 470.651722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.879594 # Actual altitude: 52.879594 # Commanded vehicle depth: 470.651722 # Seafloor depth: -521.204540 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.039741 meters # Minimum depth: 524.959524 meters looking forward 100.000000 meters along route # Maximum depth: 528.790082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 474.959524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790257; longitude = -121.903118; duration = 202; initialDepth = 477.188822; finalDepth = 474.959524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.552818 # Actual altitude: 50.552818 # Commanded vehicle depth: 474.959524 # Seafloor depth: -524.959524 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.17; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.039755 meters # Minimum depth: 527.188822 meters looking forward 100.000000 meters along route # Maximum depth: 530.256955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 477.188822 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789356; longitude = -121.902955; duration = 202; initialDepth = 475.356932; finalDepth = 477.188822; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.3627190000001 # Actual altitude: 51.3627190000001 # Commanded vehicle depth: 477.188822 # Seafloor depth: -528.551541 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.039768 meters # Minimum depth: 525.356932 meters looking forward 100.000000 meters along route # Maximum depth: 530.262522 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 475.356932 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788454; longitude = -121.902792; duration = 202; initialDepth = 471.286195; finalDepth = 475.356932; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4992559999999 # Actual altitude: 54.4992559999999 # Commanded vehicle depth: 475.356932 # Seafloor depth: -529.856188 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 101.039781 meters # Minimum depth: 521.286195 meters looking forward 100.000000 meters along route # Maximum depth: 527.057235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 471.286195 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787553; longitude = -121.902629; duration = 202; initialDepth = 476.466242; finalDepth = 471.286195; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.4992559999999 # Actual altitude: 54.4992559999999 # Commanded vehicle depth: 471.286195 # Seafloor depth: -524.175444 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.35; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 62 # Segment length 107.735169 meters # Minimum depth: 526.466242 meters looking forward 100.000000 meters along route # Maximum depth: 529.275506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 476.466242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786652; longitude = -121.902466; duration = 215; initialDepth = 477.156967; finalDepth = 476.466242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.8892489999999 # Actual altitude: 52.8892489999999 # Commanded vehicle depth: 476.466242 # Seafloor depth: -527.594208 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 61 # Segment length 150.248185 meters # Minimum depth: 527.156967 meters looking forward 100.000000 meters along route # Maximum depth: 536.560102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 477.156967 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785691; longitude = -121.902292; duration = 300; # abortOnTimeout = True; initialDepth = 472.913951; finalDepth = 477.156967; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 51.127966 # Actual altitude: 51.127966 # Commanded vehicle depth: 477.156967 # Seafloor depth: -527.156967 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 60 # Segment length 147.889689 meters # Minimum depth: 522.913951 meters looking forward 100.000000 meters along route # Maximum depth: 528.028976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 472.913951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785601; longitude = -121.903972; duration = 295; # abortOnTimeout = True; initialDepth = 468.938039; finalDepth = 472.913951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1150249999999 # Actual altitude: 55.1150249999999 # Commanded vehicle depth: 472.913951 # Seafloor depth: -528.028976 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 60 # Segment length 100.870981 meters # Minimum depth: 518.938039 meters looking forward 100.000000 meters along route # Maximum depth: 524.668173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 468.938039 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786922; longitude = -121.904191; duration = 201; initialDepth = 462.149867; finalDepth = 468.938039; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.1150249999999 # Actual altitude: 55.1150249999999 # Commanded vehicle depth: 468.938039 # Seafloor depth: -523.908637 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.870973 meters # Minimum depth: 512.149867 meters looking forward 100.000000 meters along route # Maximum depth: 518.522496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 462.149867 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787824; longitude = -121.904341; duration = 201; initialDepth = 454.105508; finalDepth = 462.149867; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.3726290000001 # Actual altitude: 56.3726290000001 # Commanded vehicle depth: 462.149867 # Seafloor depth: -518.522496 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.870963 meters # Minimum depth: 504.105508 meters looking forward 100.000000 meters along route # Maximum depth: 511.126829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 454.105508 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788725; longitude = -121.904490; duration = 201; initialDepth = 448.186643; finalDepth = 454.105508; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.021321 # Actual altitude: 57.021321 # Commanded vehicle depth: 454.105508 # Seafloor depth: -511.126829 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.870954 meters # Minimum depth: 498.186643 meters looking forward 100.000000 meters along route # Maximum depth: 501.689442 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 448.186643 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789626; longitude = -121.904639; duration = 201; initialDepth = 450.050458; finalDepth = 448.186643; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.021321 # Actual altitude: 57.021321 # Commanded vehicle depth: 448.186643 # Seafloor depth: -501.176050 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.11; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.870945 meters # Minimum depth: 500.050458 meters looking forward 100.000000 meters along route # Maximum depth: 505.236354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 450.050458 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790527; longitude = -121.904789; duration = 201; initialDepth = 451.643066; finalDepth = 450.050458; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.989407 # Actual altitude: 52.989407 # Commanded vehicle depth: 450.050458 # Seafloor depth: -500.050458 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.90; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.870936 meters # Minimum depth: 501.643066 meters looking forward 100.000000 meters along route # Maximum depth: 511.046228 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 451.643066 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791429; longitude = -121.904938; duration = 201; initialDepth = 460.258412; finalDepth = 451.643066; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.365742 # Actual altitude: 52.365742 # Commanded vehicle depth: 451.643066 # Seafloor depth: -504.008808 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.870927 meters # Minimum depth: 510.258412 meters looking forward 100.000000 meters along route # Maximum depth: 515.883775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 460.258412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792330; longitude = -121.905088; duration = 201; initialDepth = 461.041710; finalDepth = 460.258412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.365742 # Actual altitude: 52.365742 # Commanded vehicle depth: 460.258412 # Seafloor depth: -510.258412 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 60 # Segment length 100.870918 meters # Minimum depth: 511.041710 meters looking forward 100.000000 meters along route # Maximum depth: 514.368763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 461.041710 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793231; longitude = -121.905237; duration = 201; initialDepth = 459.434472; finalDepth = 461.041710; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.564867 # Actual altitude: 52.564867 # Commanded vehicle depth: 461.04171 # Seafloor depth: -513.606577 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.77; 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 60 # Segment length 104.284334 meters # Minimum depth: 509.434472 meters looking forward 100.000000 meters along route # Maximum depth: 512.495663 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 459.434472 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794132; longitude = -121.905387; duration = 208; initialDepth = 451.047870; finalDepth = 459.434472; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.061191 # Actual altitude: 53.061191 # Commanded vehicle depth: 459.434472 # Seafloor depth: -512.495663 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 59 # Segment length 150.216032 meters # Minimum depth: 501.047870 meters looking forward 100.000000 meters along route # Maximum depth: 508.389740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 451.047870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795064; longitude = -121.905541; duration = 300; # abortOnTimeout = True; initialDepth = 445.682609; finalDepth = 451.047870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.34187 # Actual altitude: 57.34187 # Commanded vehicle depth: 451.04787 # Seafloor depth: -508.389740 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 58 # Segment length 76.347315 meters # Minimum depth: 495.682609 meters looking forward 100.000000 meters along route # Maximum depth: 502.158886 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 445.682609 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796415; longitude = -121.905429; duration = 152; # abortOnTimeout = True; initialDepth = 445.843999; finalDepth = 445.682609; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.34187 # Actual altitude: 57.34187 # Commanded vehicle depth: 445.682609 # Seafloor depth: -501.184349 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 58 # Segment length 103.015139 meters # Minimum depth: 495.843999 meters looking forward 100.000000 meters along route # Maximum depth: 501.863178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 445.843999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796750; longitude = -121.904682; duration = 206; initialDepth = 443.692150; finalDepth = 445.843999; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.50174 # Actual altitude: 55.50174 # Commanded vehicle depth: 445.843999 # Seafloor depth: -495.843999 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 103.014701 meters # Minimum depth: 493.692150 meters looking forward 100.000000 meters along route # Maximum depth: 501.772510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 443.692150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797203; longitude = -121.903673; duration = 206; initialDepth = 440.495259; finalDepth = 443.692150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.08036 # Actual altitude: 58.08036 # Commanded vehicle depth: 443.69215 # Seafloor depth: -501.772510 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.42; 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 58 # Segment length 103.014263 meters # Minimum depth: 490.495259 meters looking forward 100.000000 meters along route # Maximum depth: 494.145095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 440.495259 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797655; longitude = -121.902665; duration = 206; initialDepth = 439.363717; finalDepth = 440.495259; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.08036 # Actual altitude: 58.08036 # Commanded vehicle depth: 440.495259 # Seafloor depth: -494.145095 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.42; 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 58 # Segment length 103.013825 meters # Minimum depth: 489.363717 meters looking forward 100.000000 meters along route # Maximum depth: 490.582458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 439.363717 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798107; longitude = -121.901657; duration = 206; initialDepth = 436.255099; finalDepth = 439.363717; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.6498360000001 # Actual altitude: 53.6498360000001 # Commanded vehicle depth: 439.363717 # Seafloor depth: -490.582458 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 58 # Segment length 106.826153 meters # Minimum depth: 486.255099 meters looking forward 100.000000 meters along route # Maximum depth: 490.215695 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 436.255099 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798560; longitude = -121.900649; duration = 213; initialDepth = 426.631281; finalDepth = 436.255099; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.960596 # Actual altitude: 53.960596 # Commanded vehicle depth: 436.255099 # Seafloor depth: -490.215695 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.19; 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 57 # Segment length 115.895919 meters # Minimum depth: 476.631281 meters looking forward 100.000000 meters along route # Maximum depth: 486.370529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 426.631281 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799029; longitude = -121.899603; duration = 231; # abortOnTimeout = True; initialDepth = 427.869975; finalDepth = 426.631281; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.739248 # Actual altitude: 59.739248 # Commanded vehicle depth: 426.631281 # Seafloor depth: -486.370529 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 57 # Segment length 105.402933 meters # Minimum depth: 477.869975 meters looking forward 100.000000 meters along route # Maximum depth: 483.257426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 427.869975 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799359; longitude = -121.898371; duration = 210; initialDepth = 427.915395; finalDepth = 427.869975; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 59.739248 # Actual altitude: 59.739248 # Commanded vehicle depth: 427.869975 # Seafloor depth: -477.869975 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.92; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 56 # Segment length 145.768831 meters # Minimum depth: 477.915395 meters looking forward 100.000000 meters along route # Maximum depth: 483.205826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 427.915395 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799660; longitude = -121.897250; duration = 291; # abortOnTimeout = True; initialDepth = 418.527933; finalDepth = 427.915395; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.290431 # Actual altitude: 55.290431 # Commanded vehicle depth: 427.915395 # Seafloor depth: -483.205826 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.59; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 56 # Segment length 104.110905 meters # Minimum depth: 468.527933 meters looking forward 100.000000 meters along route # Maximum depth: 478.632403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 418.527933 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798871; longitude = -121.895943; duration = 208; initialDepth = 398.958108; finalDepth = 418.527933; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.10447 # Actual altitude: 60.10447 # Commanded vehicle depth: 418.527933 # Seafloor depth: -478.632403 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 55 # Segment length 105.472077 meters # Minimum depth: 448.958108 meters looking forward 100.000000 meters along route # Maximum depth: 467.907257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 398.958108 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798308; longitude = -121.895010; duration = 210; # abortOnTimeout = True; initialDepth = 386.904951; finalDepth = 398.958108; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.949149 # Actual altitude: 68.949149 # Commanded vehicle depth: 398.958108 # Seafloor depth: -467.907257 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.68; 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 55 # Segment length 100.680055 meters # Minimum depth: 436.904951 meters looking forward 100.000000 meters along route # Maximum depth: 447.048219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 386.904951 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797647; longitude = -121.894160; duration = 201; initialDepth = 369.996997; finalDepth = 386.904951; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.949149 # Actual altitude: 68.949149 # Commanded vehicle depth: 386.904951 # Seafloor depth: -447.048219 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.68; 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 55 # Segment length 109.074928 meters # Minimum depth: 419.996997 meters looking forward 100.000000 meters along route # Maximum depth: 440.520386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 369.996997 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797016; longitude = -121.893349; duration = 218; initialDepth = 379.313845; finalDepth = 369.996997; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 69.173353 # Actual altitude: 69.173353 # Commanded vehicle depth: 369.996997 # Seafloor depth: -439.170350 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.75; 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 55 # Segment length 101.941007 meters # Minimum depth: 429.313845 meters looking forward 100.000000 meters along route # Maximum depth: 446.538436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 379.313845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796333; longitude = -121.892470; duration = 203; initialDepth = 393.180495; finalDepth = 379.313845; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 69.173353 # Actual altitude: 69.173353 # Commanded vehicle depth: 379.313845 # Seafloor depth: -429.313845 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.75; 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 to get to end of line 54 # Segment length 118.810239 meters # Minimum depth: 443.180495 meters looking forward 100.000000 meters along route # Maximum depth: 446.768311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 393.180495 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795694; longitude = -121.891649; duration = 237; # abortOnTimeout = True; initialDepth = 385.668789; finalDepth = 393.180495; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.509378 # Actual altitude: 53.509378 # Commanded vehicle depth: 393.180495 # Seafloor depth: -446.689873 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 54 # Segment length 101.816776 meters # Minimum depth: 435.668789 meters looking forward 100.000000 meters along route # Maximum depth: 444.038312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 385.668789 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795898; longitude = -121.890342; duration = 203; initialDepth = 368.835311; finalDepth = 385.668789; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.311696 # Actual altitude: 58.311696 # Commanded vehicle depth: 385.668789 # Seafloor depth: -443.980485 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; 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 54 # Segment length 101.816578 meters # Minimum depth: 418.835311 meters looking forward 100.000000 meters along route # Maximum depth: 435.574289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 368.835311 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796072; longitude = -121.889221; duration = 203; initialDepth = 366.762351; finalDepth = 368.835311; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.738978 # Actual altitude: 66.738978 # Commanded vehicle depth: 368.835311 # Seafloor depth: -435.574289 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.02; 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 54 # Segment length 101.816380 meters # Minimum depth: 416.762351 meters looking forward 100.000000 meters along route # Maximum depth: 419.684036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 366.762351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796247; longitude = -121.888101; duration = 203; initialDepth = 361.413290; finalDepth = 366.762351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.738978 # Actual altitude: 66.738978 # Commanded vehicle depth: 366.762351 # Seafloor depth: -419.133593 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.02; 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 54 # Segment length 101.816183 meters # Minimum depth: 411.413290 meters looking forward 100.000000 meters along route # Maximum depth: 418.303955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 361.413290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796421; longitude = -121.886981; duration = 203; initialDepth = 365.962676; finalDepth = 361.413290; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.952625 # Actual altitude: 53.952625 # Commanded vehicle depth: 361.41329 # Seafloor depth: -415.365915 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.19; 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 54 # Segment length 105.190368 meters # Minimum depth: 415.962676 meters looking forward 100.000000 meters along route # Maximum depth: 431.301126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 365.962676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796596; longitude = -121.885860; duration = 210; initialDepth = 380.463940; finalDepth = 365.962676; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.952625 # Actual altitude: 53.952625 # Commanded vehicle depth: 365.962676 # Seafloor depth: -415.962676 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.19; 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 53 # Segment length 98.150984 meters # Minimum depth: 430.463940 meters looking forward 100.000000 meters along route # Maximum depth: 431.628215 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 380.463940 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796776; longitude = -121.884703; duration = 196; # abortOnTimeout = True; initialDepth = 379.206666; finalDepth = 380.463940; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.951885 # Actual altitude: 50.951885 # Commanded vehicle depth: 380.46394 # Seafloor depth: -431.415825 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.29; 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 53 # Segment length 100.329413 meters # Minimum depth: 429.206666 meters looking forward 100.000000 meters along route # Maximum depth: 431.388912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 379.206666 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796295; longitude = -121.883780; duration = 200; initialDepth = 376.348739; finalDepth = 379.206666; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.697099 # Actual altitude: 51.697099 # Commanded vehicle depth: 379.206666 # Seafloor depth: -430.903765 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 53 # Segment length 102.066979 meters # Minimum depth: 426.348739 meters looking forward 100.000000 meters along route # Maximum depth: 429.264419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 376.348739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795804; longitude = -121.882836; duration = 204; initialDepth = 369.973464; finalDepth = 376.348739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.91568 # Actual altitude: 52.91568 # Commanded vehicle depth: 376.348739 # Seafloor depth: -429.264419 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 100.361685 meters # Minimum depth: 419.973464 meters looking forward 100.000000 meters along route # Maximum depth: 426.277431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 369.973464 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795304; longitude = -121.881875; duration = 200; initialDepth = 359.611000; finalDepth = 369.973464; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.196689 # Actual altitude: 56.196689 # Commanded vehicle depth: 369.973464 # Seafloor depth: -426.170153 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.86; 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 53 # Segment length 102.036621 meters # Minimum depth: 409.611000 meters looking forward 100.000000 meters along route # Maximum depth: 420.921315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 359.611000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794812; longitude = -121.880931; duration = 204; initialDepth = 348.772952; finalDepth = 359.611000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.450753 # Actual altitude: 60.450753 # Commanded vehicle depth: 359.611 # Seafloor depth: -420.061753 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.14; 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 53 # Segment length 100.393957 meters # Minimum depth: 398.772952 meters looking forward 100.000000 meters along route # Maximum depth: 408.291471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 348.772952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794313; longitude = -121.879971; duration = 200; initialDepth = 345.624357; finalDepth = 348.772952; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.450753 # Actual altitude: 60.450753 # Commanded vehicle depth: 348.772952 # Seafloor depth: -407.803412 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.14; 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 53 # Segment length 102.006262 meters # Minimum depth: 395.624357 meters looking forward 100.000000 meters along route # Maximum depth: 404.668495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 345.624357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793821; longitude = -121.879027; duration = 204; initialDepth = 355.382672; finalDepth = 345.624357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.03046 # Actual altitude: 59.03046 # Commanded vehicle depth: 345.624357 # Seafloor depth: -401.011607 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 53 # Segment length 104.357638 meters # Minimum depth: 405.382672 meters looking forward 100.000000 meters along route # Maximum depth: 408.709491 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 355.382672 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.878067; duration = 208; initialDepth = 354.842522; finalDepth = 355.382672; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.3872500000001 # Actual altitude: 55.3872500000001 # Commanded vehicle depth: 355.382672 # Seafloor depth: -405.382672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.62; 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 to get to end of line 52 # Segment length 144.175101 meters # Minimum depth: 404.842522 meters looking forward 100.000000 meters along route # Maximum depth: 408.564072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 354.842522 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792810; longitude = -121.877085; duration = 288; # abortOnTimeout = True; initialDepth = 352.513410; finalDepth = 354.842522; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.72155 # Actual altitude: 53.72155 # Commanded vehicle depth: 354.842522 # Seafloor depth: -408.564072 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.12; 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 52 # Segment length 102.305973 meters # Minimum depth: 402.513410 meters looking forward 100.000000 meters along route # Maximum depth: 405.862370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.513410 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793321; longitude = -121.875599; duration = 204; initialDepth = 349.242540; finalDepth = 352.513410; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.72155 # Actual altitude: 53.72155 # Commanded vehicle depth: 352.51341 # Seafloor depth: -405.729693 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.12; 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 52 # Segment length 101.058298 meters # Minimum depth: 399.242540 meters looking forward 100.000000 meters along route # Maximum depth: 402.775540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 349.242540 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793684; longitude = -121.874545; duration = 202; initialDepth = 346.158514; finalDepth = 349.242540; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.533 # Actual altitude: 53.533 # Commanded vehicle depth: 349.24254 # Seafloor depth: -402.775540 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.681568 meters # Minimum depth: 396.158514 meters looking forward 100.000000 meters along route # Maximum depth: 399.061757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 346.158514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.873504; duration = 203; initialDepth = 344.961245; finalDepth = 346.158514; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.533 # Actual altitude: 53.533 # Commanded vehicle depth: 346.158514 # Seafloor depth: -399.061757 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.690966 meters # Minimum depth: 394.961245 meters looking forward 100.000000 meters along route # Maximum depth: 398.405861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 344.961245 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794403; longitude = -121.872456; duration = 203; initialDepth = 341.771818; finalDepth = 344.961245; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.903243 # Actual altitude: 52.903243 # Commanded vehicle depth: 344.961245 # Seafloor depth: -396.243544 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.671035 meters # Minimum depth: 391.771818 meters looking forward 100.000000 meters along route # Maximum depth: 395.814981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 341.771818 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794763; longitude = -121.871408; duration = 203; initialDepth = 337.033926; finalDepth = 341.771818; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.043163 # Actual altitude: 54.043163 # Commanded vehicle depth: 341.771818 # Seafloor depth: -395.814981 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 101.680433 meters # Minimum depth: 387.033926 meters looking forward 100.000000 meters along route # Maximum depth: 391.385327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 337.033926 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795124; longitude = -121.870361; duration = 203; initialDepth = 332.927870; finalDepth = 337.033926; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.351401 # Actual altitude: 54.351401 # Commanded vehicle depth: 337.033926 # Seafloor depth: -391.385327 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.31; 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 52 # Segment length 101.680055 meters # Minimum depth: 382.927870 meters looking forward 100.000000 meters along route # Maximum depth: 387.160868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 332.927870 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795484; longitude = -121.869313; duration = 203; initialDepth = 328.042471; finalDepth = 332.927870; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.351401 # Actual altitude: 54.351401 # Commanded vehicle depth: 332.92787 # Seafloor depth: -386.265400 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.31; 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 52 # Segment length 108.119182 meters # Minimum depth: 378.042471 meters looking forward 100.000000 meters along route # Maximum depth: 383.279124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 328.042471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.868265; duration = 216; initialDepth = 322.110945; finalDepth = 328.042471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.90951 # Actual altitude: 54.90951 # Commanded vehicle depth: 328.042471 # Seafloor depth: -382.951981 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.47; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 108.722832 meters # Minimum depth: 372.110945 meters looking forward 100.000000 meters along route # Maximum depth: 378.048648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 322.110945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796228; longitude = -121.867151; duration = 217; initialDepth = 309.372103; finalDepth = 322.110945; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.937703 # Actual altitude: 55.937703 # Commanded vehicle depth: 322.110945 # Seafloor depth: -378.048648 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.78; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 52 # Segment length 105.088412 meters # Minimum depth: 359.372103 meters looking forward 100.000000 meters along route # Maximum depth: 371.027585 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 309.372103 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796613; longitude = -121.866031; duration = 210; initialDepth = 298.800523; finalDepth = 309.372103; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 61.655482 # Actual altitude: 61.655482 # Commanded vehicle depth: 309.372103 # Seafloor depth: -371.027585 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 51 # Segment length 121.898537 meters # Minimum depth: 348.800523 meters looking forward 100.000000 meters along route # Maximum depth: 357.058273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 298.800523 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796986; longitude = -121.864948; duration = 243; # abortOnTimeout = True; initialDepth = 299.556947; finalDepth = 298.800523; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.655482 # Actual altitude: 61.655482 # Commanded vehicle depth: 298.800523 # Seafloor depth: -357.058273 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 51 # Segment length 104.460308 meters # Minimum depth: 349.556947 meters looking forward 100.000000 meters along route # Maximum depth: 356.429728 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 299.556947 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797827; longitude = -121.864069; duration = 208; initialDepth = 306.764911; finalDepth = 299.556947; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.25775 # Actual altitude: 58.25775 # Commanded vehicle depth: 299.556947 # Seafloor depth: -351.376401 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.48; 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 51 # Segment length 100.064905 meters # Minimum depth: 356.764911 meters looking forward 100.000000 meters along route # Maximum depth: 360.578850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 306.764911 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.863316; duration = 200; initialDepth = 310.173218; finalDepth = 306.764911; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.819454 # Actual altitude: 51.819454 # Commanded vehicle depth: 306.764911 # Seafloor depth: -356.764911 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.55; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 50 # Segment length 83.297407 meters # Minimum depth: 360.173218 meters looking forward 100.000000 meters along route # Maximum depth: 361.168674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 310.173218 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799239; longitude = -121.862595; duration = 166; # abortOnTimeout = True; initialDepth = 307.823903; finalDepth = 310.173218; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 310.173218 # Seafloor depth: -360.173218 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 50 # Segment length 102.183048 meters # Minimum depth: 357.823903 meters looking forward 100.000000 meters along route # Maximum depth: 361.013580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 307.823903 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799900; longitude = -121.862153; duration = 204; initialDepth = 303.242650; finalDepth = 307.823903; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.189677 # Actual altitude: 53.189677 # Commanded vehicle depth: 307.823903 # Seafloor depth: -361.013580 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.96; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 50 # Segment length 109.812377 meters # Minimum depth: 353.242650 meters looking forward 100.000000 meters along route # Maximum depth: 358.363488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 303.242650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800711; longitude = -121.861610; duration = 219; initialDepth = 281.416978; finalDepth = 303.242650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.462289 # Actual altitude: 54.462289 # Commanded vehicle depth: 303.24265 # Seafloor depth: -357.704939 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 49 # Segment length 91.908086 meters # Minimum depth: 331.416978 meters looking forward 100.000000 meters along route # Maximum depth: 353.591618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 281.416978 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801583; longitude = -121.861027; duration = 183; # abortOnTimeout = True; initialDepth = 278.416150; finalDepth = 281.416978; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.066817 # Actual altitude: 71.066817 # Commanded vehicle depth: 281.416978 # Seafloor depth: -352.483795 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 49 # Segment length 101.141199 meters # Minimum depth: 328.416150 meters looking forward 100.000000 meters along route # Maximum depth: 334.199277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 278.416150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801883; longitude = -121.860067; duration = 202; initialDepth = 283.475303; finalDepth = 278.416150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 71.066817 # Actual altitude: 71.066817 # Commanded vehicle depth: 278.41615 # Seafloor depth: -331.043487 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.32; 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 48 # Segment length 104.753139 meters # Minimum depth: 333.475303 meters looking forward 100.000000 meters along route # Maximum depth: 336.236620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 283.475303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802213; longitude = -121.859010; duration = 209; # abortOnTimeout = True; initialDepth = 283.030302; finalDepth = 283.475303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.627337 # Actual altitude: 52.627337 # Commanded vehicle depth: 283.475303 # Seafloor depth: -334.861786 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.79; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 48 # Segment length 105.028870 meters # Minimum depth: 333.030302 meters looking forward 100.000000 meters along route # Maximum depth: 335.143615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 283.030302 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801883; longitude = -121.857910; duration = 210; initialDepth = 280.472650; finalDepth = 283.030302; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.386483 # Actual altitude: 51.386483 # Commanded vehicle depth: 283.030302 # Seafloor depth: -333.468491 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 47 # Segment length 135.076092 meters # Minimum depth: 330.472650 meters looking forward 100.000000 meters along route # Maximum depth: 334.753883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.472650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801552; longitude = -121.856807; duration = 270; # abortOnTimeout = True; initialDepth = 278.274634; finalDepth = 280.472650; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.281233 # Actual altitude: 54.281233 # Commanded vehicle depth: 280.47265 # Seafloor depth: -334.753883 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.28; 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 47 # Segment length 103.341857 meters # Minimum depth: 328.274634 meters looking forward 100.000000 meters along route # Maximum depth: 330.321379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 278.274634 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800531; longitude = -121.855982; duration = 206; initialDepth = 275.332763; finalDepth = 278.274634; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.281233 # Actual altitude: 54.281233 # Commanded vehicle depth: 278.274634 # Seafloor depth: -329.508882 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.28; 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 46 # Segment length 109.267672 meters # Minimum depth: 325.332763 meters looking forward 100.000000 meters along route # Maximum depth: 328.099167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 275.332763 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799750; longitude = -121.855351; duration = 218; # abortOnTimeout = True; initialDepth = 272.513226; finalDepth = 275.332763; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.766404 # Actual altitude: 52.766404 # Commanded vehicle depth: 275.332763 # Seafloor depth: -328.099167 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.83; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 46 # Segment length 105.365163 meters # Minimum depth: 322.513226 meters looking forward 100.000000 meters along route # Maximum depth: 325.306965 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 272.513226 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798909; longitude = -121.854714; duration = 210; initialDepth = 269.477075; finalDepth = 272.513226; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.793739 # Actual altitude: 52.793739 # Commanded vehicle depth: 272.513226 # Seafloor depth: -325.306965 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 105.714998 meters # Minimum depth: 319.477075 meters looking forward 100.000000 meters along route # Maximum depth: 322.486180 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 269.477075 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798098; longitude = -121.854100; duration = 211; initialDepth = 267.250694; finalDepth = 269.477075; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.793739 # Actual altitude: 52.793739 # Commanded vehicle depth: 269.477075 # Seafloor depth: -321.724841 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.84; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 46 # Segment length 108.976699 meters # Minimum depth: 317.250694 meters looking forward 100.000000 meters along route # Maximum depth: 319.625462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 267.250694 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797284; longitude = -121.853483; duration = 217; initialDepth = 262.188025; finalDepth = 267.250694; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.247766 # Actual altitude: 52.247766 # Commanded vehicle depth: 267.250694 # Seafloor depth: -319.466231 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 45 # Segment length 132.753024 meters # Minimum depth: 312.188025 meters looking forward 100.000000 meters along route # Maximum depth: 317.007515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 262.188025 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796445; longitude = -121.852848; duration = 265; # abortOnTimeout = True; initialDepth = 260.796196; finalDepth = 262.188025; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.81949 # Actual altitude: 54.81949 # Commanded vehicle depth: 262.188025 # Seafloor depth: -317.007515 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 45 # Segment length 107.676743 meters # Minimum depth: 310.796196 meters looking forward 100.000000 meters along route # Maximum depth: 313.726737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 260.796196 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796000; longitude = -121.851467; duration = 215; initialDepth = 256.505434; finalDepth = 260.796196; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.81949 # Actual altitude: 54.81949 # Commanded vehicle depth: 260.796196 # Seafloor depth: -313.726737 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.677204 meters # Minimum depth: 306.505434 meters looking forward 100.000000 meters along route # Maximum depth: 310.496250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 256.505434 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795639; longitude = -121.850346; duration = 215; initialDepth = 253.532180; finalDepth = 256.505434; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.990816 # Actual altitude: 53.990816 # Commanded vehicle depth: 256.505434 # Seafloor depth: -310.496250 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 100.038360 meters # Minimum depth: 303.532180 meters looking forward 100.000000 meters along route # Maximum depth: 306.437946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 253.532180 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795279; longitude = -121.849226; duration = 200; initialDepth = 247.704515; finalDepth = 253.532180; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.990816 # Actual altitude: 53.990816 # Commanded vehicle depth: 253.53218 # Seafloor depth: -306.372759 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.588058 meters # Minimum depth: 297.704515 meters looking forward 100.000000 meters along route # Maximum depth: 303.263218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 247.704515 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794943; longitude = -121.848185; duration = 215; initialDepth = 243.832486; finalDepth = 247.704515; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.558703 # Actual altitude: 55.558703 # Commanded vehicle depth: 247.704515 # Seafloor depth: -303.263218 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.588518 meters # Minimum depth: 293.832486 meters looking forward 100.000000 meters along route # Maximum depth: 297.875295 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 243.832486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794583; longitude = -121.847066; duration = 215; initialDepth = 238.495559; finalDepth = 243.832486; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.558703 # Actual altitude: 55.558703 # Commanded vehicle depth: 243.832486 # Seafloor depth: -297.690533 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.588979 meters # Minimum depth: 288.495559 meters looking forward 100.000000 meters along route # Maximum depth: 293.619857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 238.495559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794222; longitude = -121.845947; duration = 215; initialDepth = 234.734340; finalDepth = 238.495559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.124298 # Actual altitude: 55.124298 # Commanded vehicle depth: 238.495559 # Seafloor depth: -293.619857 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.589439 meters # Minimum depth: 284.734340 meters looking forward 100.000000 meters along route # Maximum depth: 288.582947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 234.734340 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793862; longitude = -121.844827; duration = 215; initialDepth = 230.496754; finalDepth = 234.734340; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.124298 # Actual altitude: 55.124298 # Commanded vehicle depth: 234.73434 # Seafloor depth: -288.404891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.54; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.589901 meters # Minimum depth: 280.496754 meters looking forward 100.000000 meters along route # Maximum depth: 284.620093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 230.496754 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793501; longitude = -121.843708; duration = 215; initialDepth = 226.278095; finalDepth = 230.496754; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.123339 # Actual altitude: 54.123339 # Commanded vehicle depth: 230.496754 # Seafloor depth: -284.620093 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.24; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.590362 meters # Minimum depth: 276.278095 meters looking forward 100.000000 meters along route # Maximum depth: 280.532430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 226.278095 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793141; longitude = -121.842588; duration = 215; initialDepth = 222.502760; finalDepth = 226.278095; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.254335 # Actual altitude: 54.254335 # Commanded vehicle depth: 226.278095 # Seafloor depth: -280.532430 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.28; 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 45 # Segment length 107.590823 meters # Minimum depth: 272.502760 meters looking forward 100.000000 meters along route # Maximum depth: 276.087378 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 222.502760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792780; longitude = -121.841469; duration = 215; initialDepth = 219.629507; finalDepth = 222.502760; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.254335 # Actual altitude: 54.254335 # Commanded vehicle depth: 222.50276 # Seafloor depth: -276.087378 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.28; 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 45 # Segment length 107.591285 meters # Minimum depth: 269.629507 meters looking forward 100.000000 meters along route # Maximum depth: 272.544983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 219.629507 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792420; longitude = -121.840350; duration = 215; initialDepth = 214.462097; finalDepth = 219.629507; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.584618 # Actual altitude: 53.584618 # Commanded vehicle depth: 219.629507 # Seafloor depth: -272.544983 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.08; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.591745 meters # Minimum depth: 264.462097 meters looking forward 100.000000 meters along route # Maximum depth: 269.862964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 214.462097 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792059; longitude = -121.839230; duration = 215; initialDepth = 207.487002; finalDepth = 214.462097; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.400867 # Actual altitude: 55.400867 # Commanded vehicle depth: 214.462097 # Seafloor depth: -269.862964 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.592206 meters # Minimum depth: 257.487002 meters looking forward 100.000000 meters along route # Maximum depth: 264.379280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 207.487002 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791699; longitude = -121.838111; duration = 215; initialDepth = 202.716525; finalDepth = 207.487002; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.892278 # Actual altitude: 56.892278 # Commanded vehicle depth: 207.487002 # Seafloor depth: -264.379280 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.592668 meters # Minimum depth: 252.716525 meters looking forward 100.000000 meters along route # Maximum depth: 257.111262 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 202.716525 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791338; longitude = -121.836992; duration = 215; initialDepth = 197.927112; finalDepth = 202.716525; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.892278 # Actual altitude: 56.892278 # Commanded vehicle depth: 202.716525 # Seafloor depth: -257.111262 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.593128 meters # Minimum depth: 247.927112 meters looking forward 100.000000 meters along route # Maximum depth: 252.654711 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 197.927112 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790978; longitude = -121.835872; duration = 215; initialDepth = 196.574938; finalDepth = 197.927112; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.727599 # Actual altitude: 54.727599 # Commanded vehicle depth: 197.927112 # Seafloor depth: -252.654711 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 107.593590 meters # Minimum depth: 246.574938 meters looking forward 100.000000 meters along route # Maximum depth: 249.032833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 196.574938 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790617; longitude = -121.834753; duration = 215; initialDepth = 190.483274; finalDepth = 196.574938; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.727599 # Actual altitude: 54.727599 # Commanded vehicle depth: 196.574938 # Seafloor depth: -248.048073 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.42; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 45 # Segment length 105.725979 meters # Minimum depth: 240.483274 meters looking forward 100.000000 meters along route # Maximum depth: 249.186452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 190.483274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790257; longitude = -121.833633; duration = 211; initialDepth = 184.244536; finalDepth = 190.483274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.703178 # Actual altitude: 58.703178 # Commanded vehicle depth: 190.483274 # Seafloor depth: -249.186452 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.61; 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 45 # Segment length 100.488566 meters # Minimum depth: 234.244536 meters looking forward 100.000000 meters along route # Maximum depth: 238.693216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 184.244536 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789903; longitude = -121.832533; duration = 200; initialDepth = 181.413255; finalDepth = 184.244536; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.703178 # Actual altitude: 58.703178 # Commanded vehicle depth: 184.244536 # Seafloor depth: -238.693216 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.61; 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 44 # Segment length 80.388201 meters # Minimum depth: 231.413255 meters looking forward 100.000000 meters along route # Maximum depth: 234.666472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 181.413255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789566; longitude = -121.831488; duration = 160; # abortOnTimeout = True; initialDepth = 177.406716; finalDepth = 181.413255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.44868 # Actual altitude: 54.44868 # Commanded vehicle depth: 181.413255 # Seafloor depth: -234.219257 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.33; 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 44 # Segment length 107.794555 meters # Minimum depth: 227.406716 meters looking forward 100.000000 meters along route # Maximum depth: 230.319499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 177.406716 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789784; longitude = -121.830629; duration = 215; initialDepth = 177.686303; finalDepth = 177.406716; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.912783 # Actual altitude: 52.912783 # Commanded vehicle depth: 177.406716 # Seafloor depth: -230.319499 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 101.869728 meters # Minimum depth: 227.686303 meters looking forward 100.000000 meters along route # Maximum depth: 230.712868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 177.686303 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790077; longitude = -121.829477; duration = 203; initialDepth = 178.882885; finalDepth = 177.686303; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.912783 # Actual altitude: 52.912783 # Commanded vehicle depth: 177.686303 # Seafloor depth: -227.686303 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 44 # Segment length 108.291056 meters # Minimum depth: 228.882885 meters looking forward 100.000000 meters along route # Maximum depth: 231.635159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 178.882885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790353; longitude = -121.828388; duration = 216; initialDepth = 177.327401; finalDepth = 178.882885; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.742605 # Actual altitude: 50.742605 # Commanded vehicle depth: 178.882885 # Seafloor depth: -229.625490 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 43 # Segment length 123.984124 meters # Minimum depth: 227.327401 meters looking forward 100.000000 meters along route # Maximum depth: 229.050915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 177.327401 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790647; longitude = -121.827231; duration = 247; # abortOnTimeout = True; initialDepth = 171.287271; finalDepth = 177.327401; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.723514 # Actual altitude: 51.723514 # Commanded vehicle depth: 177.327401 # Seafloor depth: -229.050915 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 43 # Segment length 100.102050 meters # Minimum depth: 221.287271 meters looking forward 100.000000 meters along route # Maximum depth: 227.148834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 171.287271 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791446; longitude = -121.826260; duration = 200; initialDepth = 158.653306; finalDepth = 171.287271; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.861563 # Actual altitude: 55.861563 # Commanded vehicle depth: 171.287271 # Seafloor depth: -227.148834 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.76; 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 43 # Segment length 100.101662 meters # Minimum depth: 208.653306 meters looking forward 100.000000 meters along route # Maximum depth: 221.561250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 158.653306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792091; longitude = -121.825475; duration = 200; initialDepth = 154.683800; finalDepth = 158.653306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.907944 # Actual altitude: 62.907944 # Commanded vehicle depth: 158.653306 # Seafloor depth: -221.561250 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 100.101276 meters # Minimum depth: 204.683800 meters looking forward 100.000000 meters along route # Maximum depth: 207.773714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 154.683800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792737; longitude = -121.824691; duration = 200; initialDepth = 153.970204; finalDepth = 154.683800; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.907944 # Actual altitude: 62.907944 # Commanded vehicle depth: 154.6838 # Seafloor depth: -207.773714 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 43 # Segment length 102.467021 meters # Minimum depth: 203.970204 meters looking forward 100.000000 meters along route # Maximum depth: 210.848107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 153.970204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793382; longitude = -121.823907; duration = 204; initialDepth = 160.357338; finalDepth = 153.970204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.089914 # Actual altitude: 53.089914 # Commanded vehicle depth: 153.970204 # Seafloor depth: -203.970204 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 43 # Segment length 102.531707 meters # Minimum depth: 210.357338 meters looking forward 100.000000 meters along route # Maximum depth: 211.762006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 160.357338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794042; longitude = -121.823104; duration = 205; initialDepth = 156.477669; finalDepth = 160.357338; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.617258 # Actual altitude: 50.617258 # Commanded vehicle depth: 160.357338 # Seafloor depth: -210.974596 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 42 # Segment length 96.871220 meters # Minimum depth: 206.477669 meters looking forward 100.000000 meters along route # Maximum depth: 209.905164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 156.477669 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794703; longitude = -121.822301; duration = 193; # abortOnTimeout = True; initialDepth = 154.076549; finalDepth = 156.477669; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.370441 # Actual altitude: 53.370441 # Commanded vehicle depth: 156.477669 # Seafloor depth: -209.848110 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 42 # Segment length 100.206168 meters # Minimum depth: 204.076549 meters looking forward 100.000000 meters along route # Maximum depth: 206.934406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 154.076549 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795574; longitude = -121.822229; duration = 200; initialDepth = 151.218362; finalDepth = 154.076549; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.370441 # Actual altitude: 53.370441 # Commanded vehicle depth: 154.076549 # Seafloor depth: -206.934406 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.206178 meters # Minimum depth: 201.218362 meters looking forward 100.000000 meters along route # Maximum depth: 203.548765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 151.218362 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796475; longitude = -121.822155; duration = 200; initialDepth = 145.686172; finalDepth = 151.218362; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.857857 # Actual altitude: 52.857857 # Commanded vehicle depth: 151.218362 # Seafloor depth: -203.280772 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 106.340806 meters # Minimum depth: 195.686172 meters looking forward 100.000000 meters along route # Maximum depth: 200.370575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 145.686172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797377; longitude = -121.822081; duration = 212; initialDepth = 138.881320; finalDepth = 145.686172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.684403 # Actual altitude: 54.684403 # Commanded vehicle depth: 145.686172 # Seafloor depth: -200.370575 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.41; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 42 # Segment length 100.719359 meters # Minimum depth: 188.881320 meters looking forward 100.000000 meters along route # Maximum depth: 195.671303 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 138.881320 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798333; longitude = -121.822002; duration = 201; initialDepth = 123.561085; finalDepth = 138.881320; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 56.789983 # Actual altitude: 56.789983 # Commanded vehicle depth: 138.88132 # Seafloor depth: -195.671303 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.04; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 41 # Segment length 101.925760 meters # Minimum depth: 173.561085 meters looking forward 100.000000 meters along route # Maximum depth: 194.211516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 123.561085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799239; longitude = -121.821928; duration = 203; # abortOnTimeout = True; initialDepth = 111.034712; finalDepth = 123.561085; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 66.057995 # Actual altitude: 66.057995 # Commanded vehicle depth: 123.561085 # Seafloor depth: -189.619080 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.82; 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; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 40 # Segment length 97.187280 meters # Minimum depth: 161.034712 meters looking forward 100.000000 meters along route # Maximum depth: 172.560839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 111.034712 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799420; longitude = -121.823048; duration = 194; # abortOnTimeout = True; initialDepth = 97.917400; finalDepth = 111.034712; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.057995 # Actual altitude: 66.057995 # Commanded vehicle depth: 111.034712 # Seafloor depth: -172.210205 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.82; 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 40 # Segment length 100.485707 meters # Minimum depth: 147.917400 meters looking forward 100.000000 meters along route # Maximum depth: 160.397093 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 97.917400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.823156; duration = 200; initialDepth = 97.671427; finalDepth = 97.917400; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.963653 # Actual altitude: 61.963653 # Commanded vehicle depth: 97.9174 # Seafloor depth: -159.881053 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.59; 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 40 # Segment length 100.485701 meters # Minimum depth: 147.671427 meters looking forward 100.000000 meters along route # Maximum depth: 162.381070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 97.671427 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797647; longitude = -121.823268; duration = 200; initialDepth = 104.366810; finalDepth = 97.671427; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.963653 # Actual altitude: 61.963653 # Commanded vehicle depth: 97.671427 # Seafloor depth: -147.671427 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.59; 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 40 # Segment length 100.485695 meters # Minimum depth: 154.366810 meters looking forward 100.000000 meters along route # Maximum depth: 176.619981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.366810 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.823380; duration = 200; initialDepth = 128.106692; finalDepth = 104.366810; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.241054 # Actual altitude: 51.241054 # Commanded vehicle depth: 104.36681 # Seafloor depth: -155.607864 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 40 # Segment length 103.872781 meters # Minimum depth: 178.106692 meters looking forward 100.000000 meters along route # Maximum depth: 195.215826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 128.106692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.823492; duration = 207; initialDepth = 122.278263; finalDepth = 128.106692; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.241054 # Actual altitude: 51.241054 # Commanded vehicle depth: 128.106692 # Seafloor depth: -178.106692 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.37; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 39 # Segment length 179.113870 meters # Minimum depth: 172.278263 meters looking forward 100.000000 meters along route # Maximum depth: 194.884144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 122.278263 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794913; longitude = -121.823608; duration = 358; # abortOnTimeout = True; initialDepth = 118.458518; finalDepth = 122.278263; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.605881 # Actual altitude: 72.605881 # Commanded vehicle depth: 122.278263 # Seafloor depth: -194.884144 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.78; 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 39 # Segment length 113.103331 meters # Minimum depth: 168.458518 meters looking forward 100.000000 meters along route # Maximum depth: 174.833332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 118.458518 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793771; longitude = -121.825027; duration = 226; initialDepth = 124.844839; finalDepth = 118.458518; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.605881 # Actual altitude: 72.605881 # Commanded vehicle depth: 118.458518 # Seafloor depth: -172.269449 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.78; 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 39 # Segment length 113.103831 meters # Minimum depth: 174.844839 meters looking forward 100.000000 meters along route # Maximum depth: 190.179619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 124.844839 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793050; longitude = -121.825924; duration = 226; initialDepth = 140.189336; finalDepth = 124.844839; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.810931 # Actual altitude: 53.810931 # Commanded vehicle depth: 124.844839 # Seafloor depth: -174.844839 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.14; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 39 # Segment length 103.627420 meters # Minimum depth: 190.189336 meters looking forward 100.000000 meters along route # Maximum depth: 201.746481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 140.189336 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792330; longitude = -121.826820; duration = 207; initialDepth = 140.323902; finalDepth = 140.189336; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 140.189336 # Seafloor depth: -190.189336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 38 # Segment length 102.585451 meters # Minimum depth: 190.323902 meters looking forward 100.000000 meters along route # Maximum depth: 201.806816 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 140.323902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791669; longitude = -121.827641; duration = 205; # abortOnTimeout = True; initialDepth = 135.013613; finalDepth = 140.323902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.482914 # Actual altitude: 61.482914 # Commanded vehicle depth: 140.323902 # Seafloor depth: -201.806816 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 38 # Segment length 106.083241 meters # Minimum depth: 185.013613 meters looking forward 100.000000 meters along route # Maximum depth: 190.006433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 135.013613 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791360; longitude = -121.828724; duration = 212; initialDepth = 135.971211; finalDepth = 135.013613; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.482914 # Actual altitude: 61.482914 # Commanded vehicle depth: 135.013613 # Seafloor depth: -189.340064 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.44; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 38 # Segment length 100.306553 meters # Minimum depth: 185.971211 meters looking forward 100.000000 meters along route # Maximum depth: 210.390901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 135.971211 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791040; longitude = -121.829845; duration = 200; initialDepth = 161.863346; finalDepth = 135.971211; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 54.326451 # Actual altitude: 54.326451 # Commanded vehicle depth: 135.971211 # Seafloor depth: -185.971211 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 37 # Segment length 113.548802 meters # Minimum depth: 211.863346 meters looking forward 100.000000 meters along route # Maximum depth: 223.085879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 161.863346 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790737; longitude = -121.830904; duration = 227; # abortOnTimeout = True; initialDepth = 173.598925; finalDepth = 161.863346; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 161.863346 # Seafloor depth: -211.863346 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 37 # Segment length 107.684101 meters # Minimum depth: 223.598925 meters looking forward 100.000000 meters along route # Maximum depth: 238.350547 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 173.598925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791117; longitude = -121.832085; duration = 215; initialDepth = 188.789745; finalDepth = 173.598925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 173.598925 # Seafloor depth: -223.598925 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.683638 meters # Minimum depth: 238.789745 meters looking forward 100.000000 meters along route # Maximum depth: 250.559899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 188.789745 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791478; longitude = -121.833206; duration = 215; initialDepth = 201.669853; finalDepth = 188.789745; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 188.789745 # Seafloor depth: -238.789745 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.683176 meters # Minimum depth: 251.669853 meters looking forward 100.000000 meters along route # Maximum depth: 256.879723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 201.669853 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791839; longitude = -121.834326; duration = 215; initialDepth = 206.559586; finalDepth = 201.669853; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 201.669853 # Seafloor depth: -251.669853 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.682714 meters # Minimum depth: 256.559586 meters looking forward 100.000000 meters along route # Maximum depth: 261.119581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 206.559586 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792200; longitude = -121.835446; duration = 215; initialDepth = 193.292869; finalDepth = 206.559586; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 206.559586 # Seafloor depth: -256.559586 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.682252 meters # Minimum depth: 243.292869 meters looking forward 100.000000 meters along route # Maximum depth: 256.155848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 193.292869 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792561; longitude = -121.836567; duration = 215; initialDepth = 181.245478; finalDepth = 193.292869; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.862979 # Actual altitude: 62.862979 # Commanded vehicle depth: 193.292869 # Seafloor depth: -256.155848 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.681791 meters # Minimum depth: 231.245478 meters looking forward 100.000000 meters along route # Maximum depth: 243.483298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 181.245478 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792922; longitude = -121.837687; duration = 215; initialDepth = 183.275087; finalDepth = 181.245478; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.862979 # Actual altitude: 62.862979 # Commanded vehicle depth: 181.245478 # Seafloor depth: -243.483298 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.681328 meters # Minimum depth: 233.275087 meters looking forward 100.000000 meters along route # Maximum depth: 236.815089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 183.275087 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793282; longitude = -121.838807; duration = 215; initialDepth = 184.654468; finalDepth = 183.275087; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.23782 # Actual altitude: 62.23782 # Commanded vehicle depth: 183.275087 # Seafloor depth: -233.275087 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.67; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.680867 meters # Minimum depth: 234.654468 meters looking forward 100.000000 meters along route # Maximum depth: 245.342192 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 184.654468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793643; longitude = -121.839928; duration = 215; initialDepth = 194.099553; finalDepth = 184.654468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.778877 # Actual altitude: 51.778877 # Commanded vehicle depth: 184.654468 # Seafloor depth: -236.433345 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.680404 meters # Minimum depth: 244.099553 meters looking forward 100.000000 meters along route # Maximum depth: 248.207911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 194.099553 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794004; longitude = -121.841048; duration = 215; initialDepth = 195.511306; finalDepth = 194.099553; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.778877 # Actual altitude: 51.778877 # Commanded vehicle depth: 194.099553 # Seafloor depth: -244.099553 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.679943 meters # Minimum depth: 245.511306 meters looking forward 100.000000 meters along route # Maximum depth: 249.249570 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 195.511306 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794365; longitude = -121.842168; duration = 215; initialDepth = 193.282242; finalDepth = 195.511306; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.435669 # Actual altitude: 51.435669 # Commanded vehicle depth: 195.511306 # Seafloor depth: -246.946975 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 37 # Segment length 107.679481 meters # Minimum depth: 243.282242 meters looking forward 100.000000 meters along route # Maximum depth: 245.997793 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 193.282242 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794726; longitude = -121.843288; duration = 215; initialDepth = 196.287739; finalDepth = 193.282242; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.629649 # Actual altitude: 51.629649 # Commanded vehicle depth: 193.282242 # Seafloor depth: -244.911891 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.679019 meters # Minimum depth: 246.287739 meters looking forward 100.000000 meters along route # Maximum depth: 253.563331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 196.287739 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795087; longitude = -121.844409; duration = 215; initialDepth = 201.679256; finalDepth = 196.287739; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.629649 # Actual altitude: 51.629649 # Commanded vehicle depth: 196.287739 # Seafloor depth: -246.942266 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.678557 meters # Minimum depth: 251.679256 meters looking forward 100.000000 meters along route # Maximum depth: 259.459374 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 201.679256 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795447; longitude = -121.845529; duration = 215; initialDepth = 203.515840; finalDepth = 201.679256; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.654527 # Actual altitude: 50.654527 # Commanded vehicle depth: 201.679256 # Seafloor depth: -251.679256 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.20; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.678096 meters # Minimum depth: 253.515840 meters looking forward 100.000000 meters along route # Maximum depth: 265.856200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 203.515840 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795808; longitude = -121.846649; duration = 215; initialDepth = 215.247618; finalDepth = 203.515840; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 203.51584 # Seafloor depth: -253.515840 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.677633 meters # Minimum depth: 265.247618 meters looking forward 100.000000 meters along route # Maximum depth: 270.442873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 215.247618 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796169; longitude = -121.847770; duration = 215; initialDepth = 216.742742; finalDepth = 215.247618; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.044898 # Actual altitude: 51.044898 # Commanded vehicle depth: 215.247618 # Seafloor depth: -266.292516 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.31; 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 37 # Segment length 107.677172 meters # Minimum depth: 266.742742 meters looking forward 100.000000 meters along route # Maximum depth: 272.038210 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 216.742742 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796530; longitude = -121.848890; duration = 215; initialDepth = 222.965655; finalDepth = 216.742742; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.547936 # Actual altitude: 51.547936 # Commanded vehicle depth: 216.742742 # Seafloor depth: -268.290678 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 107.676711 meters # Minimum depth: 272.965655 meters looking forward 100.000000 meters along route # Maximum depth: 286.316222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 222.965655 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796891; longitude = -121.850010; duration = 215; initialDepth = 239.365771; finalDepth = 222.965655; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.547936 # Actual altitude: 51.547936 # Commanded vehicle depth: 222.965655 # Seafloor depth: -273.444762 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.46; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 37 # Segment length 109.022349 meters # Minimum depth: 289.365771 meters looking forward 100.000000 meters along route # Maximum depth: 305.611406 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 239.365771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797252; longitude = -121.851131; duration = 218; initialDepth = 253.092558; finalDepth = 239.365771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.479107 # Actual altitude: 50.479107 # Commanded vehicle depth: 239.365771 # Seafloor depth: -289.365771 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 36 # Segment length 97.659920 meters # Minimum depth: 303.092558 meters looking forward 100.000000 meters along route # Maximum depth: 307.431130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 253.092558 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797617; longitude = -121.852265; duration = 195; # abortOnTimeout = True; initialDepth = 255.563673; finalDepth = 253.092558; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.976778 # Actual altitude: 52.976778 # Commanded vehicle depth: 253.092558 # Seafloor depth: -306.069336 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 36 # Segment length 102.332098 meters # Minimum depth: 305.563673 meters looking forward 100.000000 meters along route # Maximum depth: 309.801572 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.563673 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798380; longitude = -121.852811; duration = 204; initialDepth = 254.570693; finalDepth = 255.563673; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.976778 # Actual altitude: 52.976778 # Commanded vehicle depth: 255.563673 # Seafloor depth: -307.556301 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.89; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 103.837629 meters # Minimum depth: 304.570693 meters looking forward 100.000000 meters along route # Maximum depth: 307.941990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 254.570693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799179; longitude = -121.853383; duration = 207; initialDepth = 255.074783; finalDepth = 254.570693; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.371297 # Actual altitude: 53.371297 # Commanded vehicle depth: 254.570693 # Seafloor depth: -307.941990 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 36 # Segment length 107.620966 meters # Minimum depth: 305.074783 meters looking forward 100.000000 meters along route # Maximum depth: 319.083820 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 255.074783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799990; longitude = -121.853964; duration = 215; initialDepth = 266.818791; finalDepth = 255.074783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 53.371297 # Actual altitude: 53.371297 # Commanded vehicle depth: 255.074783 # Seafloor depth: -305.074783 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 35 # Segment length 83.676822 meters # Minimum depth: 316.818791 meters looking forward 100.000000 meters along route # Maximum depth: 321.465921 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 266.818791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800831; longitude = -121.854566; duration = 167; # abortOnTimeout = True; initialDepth = 273.112317; finalDepth = 266.818791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.516544 # Actual altitude: 51.516544 # Commanded vehicle depth: 266.818791 # Seafloor depth: -318.335335 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; 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 35 # Segment length 104.030957 meters # Minimum depth: 323.112317 meters looking forward 100.000000 meters along route # Maximum depth: 329.474591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 273.112317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801432; longitude = -121.855132; duration = 208; initialDepth = 278.303773; finalDepth = 273.112317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.516544 # Actual altitude: 51.516544 # Commanded vehicle depth: 273.112317 # Seafloor depth: -323.112317 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.45; 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 35 # Segment length 104.937885 meters # Minimum depth: 328.303773 meters looking forward 100.000000 meters along route # Maximum depth: 330.080651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 278.303773 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802180; longitude = -121.855836; duration = 209; initialDepth = 279.084831; finalDepth = 278.303773; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.166581 # Actual altitude: 50.166581 # Commanded vehicle depth: 278.303773 # Seafloor depth: -328.470354 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.05; 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 to get to end of line 34 # Segment length 118.486356 meters # Minimum depth: 329.084831 meters looking forward 100.000000 meters along route # Maximum depth: 335.638267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 279.084831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802934; longitude = -121.856546; duration = 236; # abortOnTimeout = True; initialDepth = 285.900409; finalDepth = 279.084831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.166581 # Actual altitude: 50.166581 # Commanded vehicle depth: 279.084831 # Seafloor depth: -329.084831 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.05; 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 34 # Segment length 104.961407 meters # Minimum depth: 335.900409 meters looking forward 100.000000 meters along route # Maximum depth: 346.306427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 285.900409 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803125; longitude = -121.857853; duration = 209; initialDepth = 295.889702; finalDepth = 285.900409; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.671553 # Actual altitude: 51.671553 # Commanded vehicle depth: 285.900409 # Seafloor depth: -337.571962 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 33 # Segment length 172.118203 meters # Minimum depth: 345.889702 meters looking forward 100.000000 meters along route # Maximum depth: 352.207273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 295.889702 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803295; longitude = -121.859010; duration = 344; # abortOnTimeout = True; initialDepth = 262.895963; finalDepth = 295.889702; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.671553 # Actual altitude: 51.671553 # Commanded vehicle depth: 295.889702 # Seafloor depth: -345.889702 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 33 # Segment length 106.693346 meters # Minimum depth: 312.895963 meters looking forward 100.000000 meters along route # Maximum depth: 352.784229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 262.895963 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802905; longitude = -121.860877; duration = 213; initialDepth = 251.373600; finalDepth = 262.895963; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 89.888266 # Actual altitude: 89.888266 # Commanded vehicle depth: 262.895963 # Seafloor depth: -352.784229 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 32 # Segment length 141.327250 meters # Minimum depth: 301.373600 meters looking forward 100.000000 meters along route # Maximum depth: 322.393968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 251.373600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802664; longitude = -121.862035; duration = 282; # abortOnTimeout = True; initialDepth = 257.282351; finalDepth = 251.373600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 89.888266 # Actual altitude: 89.888266 # Commanded vehicle depth: 251.3736 # Seafloor depth: -313.028244 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 32 # Segment length 106.049464 meters # Minimum depth: 307.282351 meters looking forward 100.000000 meters along route # Maximum depth: 329.813895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 257.282351 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801497; longitude = -121.862670; duration = 212; initialDepth = 281.362154; finalDepth = 257.282351; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.654644 # Actual altitude: 61.654644 # Commanded vehicle depth: 257.282351 # Seafloor depth: -307.905442 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.50; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 32 # Segment length 101.866349 meters # Minimum depth: 331.362154 meters looking forward 100.000000 meters along route # Maximum depth: 347.976347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 281.362154 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800621; longitude = -121.863146; duration = 203; initialDepth = 280.416412; finalDepth = 281.362154; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.623091 # Actual altitude: 50.623091 # Commanded vehicle depth: 281.362154 # Seafloor depth: -331.362154 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.19; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 31 # Segment length 159.344061 meters # Minimum depth: 330.416412 meters looking forward 100.000000 meters along route # Maximum depth: 345.259964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.416412 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799780; longitude = -121.863604; duration = 318; # abortOnTimeout = True; initialDepth = 280.393753; finalDepth = 280.416412; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.843552 # Actual altitude: 64.843552 # Commanded vehicle depth: 280.416412 # Seafloor depth: -345.259964 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.45; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 31 # Segment length 109.582035 meters # Minimum depth: 330.393753 meters looking forward 100.000000 meters along route # Maximum depth: 334.240895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 280.393753 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798712; longitude = -121.864799; duration = 219; initialDepth = 284.610184; finalDepth = 280.393753; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 64.843552 # Actual altitude: 64.843552 # Commanded vehicle depth: 280.393753 # Seafloor depth: -330.393753 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.45; 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 to get to end of line 30 # Segment length 148.291840 meters # Minimum depth: 334.610184 meters looking forward 100.000000 meters along route # Maximum depth: 338.534708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 284.610184 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797978; longitude = -121.865620; duration = 296; # abortOnTimeout = True; initialDepth = 286.431272; finalDepth = 284.610184; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 284.610184 # Seafloor depth: -334.610184 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 30 # Segment length 107.742407 meters # Minimum depth: 336.431272 meters looking forward 100.000000 meters along route # Maximum depth: 349.711059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 286.431272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797467; longitude = -121.867156; duration = 215; initialDepth = 299.893623; finalDepth = 286.431272; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.166361 # Actual altitude: 52.166361 # Commanded vehicle depth: 286.431272 # Seafloor depth: -338.597633 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 101.430360 meters # Minimum depth: 349.893623 meters looking forward 100.000000 meters along route # Maximum depth: 359.642375 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 299.893623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797095; longitude = -121.868271; duration = 202; initialDepth = 305.717222; finalDepth = 299.893623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.166361 # Actual altitude: 52.166361 # Commanded vehicle depth: 299.893623 # Seafloor depth: -349.893623 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 104.586972 meters # Minimum depth: 355.717222 meters looking forward 100.000000 meters along route # Maximum depth: 362.126798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 305.717222 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.869322; duration = 209; initialDepth = 300.794073; finalDepth = 305.717222; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.442727 # Actual altitude: 53.442727 # Commanded vehicle depth: 305.717222 # Seafloor depth: -359.159949 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 107.707706 meters # Minimum depth: 350.794073 meters looking forward 100.000000 meters along route # Maximum depth: 361.849506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 300.794073 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.870405; duration = 215; initialDepth = 295.408274; finalDepth = 300.794073; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.05199 # Actual altitude: 61.05199 # Commanded vehicle depth: 300.794073 # Seafloor depth: -361.846063 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 108.181866 meters # Minimum depth: 345.408274 meters looking forward 100.000000 meters along route # Maximum depth: 350.633161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 295.408274 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796014; longitude = -121.871520; duration = 216; initialDepth = 288.261792; finalDepth = 295.408274; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.05199 # Actual altitude: 61.05199 # Commanded vehicle depth: 295.408274 # Seafloor depth: -350.633161 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 108.182287 meters # Minimum depth: 338.261792 meters looking forward 100.000000 meters along route # Maximum depth: 352.848320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 288.261792 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795641; longitude = -121.872641; duration = 216; initialDepth = 291.128788; finalDepth = 288.261792; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.523846 # Actual altitude: 57.523846 # Commanded vehicle depth: 288.261792 # Seafloor depth: -345.785638 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 108.182706 meters # Minimum depth: 341.128788 meters looking forward 100.000000 meters along route # Maximum depth: 361.264567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 291.128788 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795268; longitude = -121.873761; duration = 216; initialDepth = 307.949267; finalDepth = 291.128788; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.523846 # Actual altitude: 57.523846 # Commanded vehicle depth: 291.128788 # Seafloor depth: -346.997326 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 30 # Segment length 108.183127 meters # Minimum depth: 357.949267 meters looking forward 100.000000 meters along route # Maximum depth: 369.307929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 307.949267 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794895; longitude = -121.874881; duration = 216; initialDepth = 301.990538; finalDepth = 307.949267; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.868538 # Actual altitude: 55.868538 # Commanded vehicle depth: 307.949267 # Seafloor depth: -360.808166 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.76; 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 30 # Segment length 104.611831 meters # Minimum depth: 351.990538 meters looking forward 100.000000 meters along route # Maximum depth: 363.589807 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 301.990538 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794523; longitude = -121.876002; duration = 209; initialDepth = 315.753357; finalDepth = 301.990538; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.858899 # Actual altitude: 52.858899 # Commanded vehicle depth: 301.990538 # Seafloor depth: -351.990538 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 29 # Segment length 134.428798 meters # Minimum depth: 365.753357 meters looking forward 100.000000 meters along route # Maximum depth: 378.552569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 315.753357 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794162; longitude = -121.877085; duration = 268; # abortOnTimeout = True; initialDepth = 328.838110; finalDepth = 315.753357; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 315.753357 # Seafloor depth: -365.753357 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 29 # Segment length 106.781647 meters # Minimum depth: 378.838110 meters looking forward 100.000000 meters along route # Maximum depth: 384.381325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 328.838110 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794815; longitude = -121.878354; duration = 213; initialDepth = 335.424751; finalDepth = 328.838110; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.049292 # Actual altitude: 50.049292 # Commanded vehicle depth: 328.83811 # Seafloor depth: -378.887402 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 106.781116 meters # Minimum depth: 385.424751 meters looking forward 100.000000 meters along route # Maximum depth: 390.974232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 335.424751 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795333; longitude = -121.879363; duration = 213; initialDepth = 340.254189; finalDepth = 335.424751; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.049292 # Actual altitude: 50.049292 # Commanded vehicle depth: 335.424751 # Seafloor depth: -385.424751 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.01; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 109.913907 meters # Minimum depth: 390.254189 meters looking forward 100.000000 meters along route # Maximum depth: 403.762584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 340.254189 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795852; longitude = -121.880371; duration = 219; initialDepth = 352.947974; finalDepth = 340.254189; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.079675 # Actual altitude: 51.079675 # Commanded vehicle depth: 340.254189 # Seafloor depth: -391.333864 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 103.646728 meters # Minimum depth: 402.947974 meters looking forward 100.000000 meters along route # Maximum depth: 405.488797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 352.947974 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796385; longitude = -121.881409; duration = 207; initialDepth = 354.147886; finalDepth = 352.947974; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.079675 # Actual altitude: 51.079675 # Commanded vehicle depth: 352.947974 # Seafloor depth: -403.697068 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 29 # Segment length 100.523395 meters # Minimum depth: 404.147886 meters looking forward 100.000000 meters along route # Maximum depth: 409.440013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 354.147886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796889; longitude = -121.882387; duration = 201; initialDepth = 356.058607; finalDepth = 354.147886; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.749094 # Actual altitude: 50.749094 # Commanded vehicle depth: 354.147886 # Seafloor depth: -404.147886 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 29 # Segment length 105.088794 meters # Minimum depth: 406.058607 meters looking forward 100.000000 meters along route # Maximum depth: 421.548494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 356.058607 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797377; longitude = -121.883337; duration = 210; initialDepth = 374.406235; finalDepth = 356.058607; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 51.999404 # Actual altitude: 51.999404 # Commanded vehicle depth: 356.058607 # Seafloor depth: -408.058011 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 28 # Segment length 128.010683 meters # Minimum depth: 424.406235 meters looking forward 100.000000 meters along route # Maximum depth: 431.930498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 374.406235 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797887; longitude = -121.884329; duration = 256; # abortOnTimeout = True; initialDepth = 381.520896; finalDepth = 374.406235; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.999404 # Actual altitude: 51.999404 # Commanded vehicle depth: 374.406235 # Seafloor depth: -424.406235 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.60; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 28 # Segment length 101.036502 meters # Minimum depth: 431.520896 meters looking forward 100.000000 meters along route # Maximum depth: 433.193689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 381.520896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797719; longitude = -121.885748; duration = 202; initialDepth = 383.074257; finalDepth = 381.520896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.520896 # Seafloor depth: -431.520896 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.036647 meters # Minimum depth: 433.074257 meters looking forward 100.000000 meters along route # Maximum depth: 437.632984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 383.074257 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797586; longitude = -121.886869; duration = 202; initialDepth = 386.356378; finalDepth = 383.074257; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 383.074257 # Seafloor depth: -433.074257 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.036793 meters # Minimum depth: 436.356378 meters looking forward 100.000000 meters along route # Maximum depth: 441.798997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 386.356378 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797453; longitude = -121.887989; duration = 202; initialDepth = 389.501567; finalDepth = 386.356378; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 386.356378 # Seafloor depth: -436.356378 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 101.036940 meters # Minimum depth: 439.501567 meters looking forward 100.000000 meters along route # Maximum depth: 442.427550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 389.501567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797320; longitude = -121.889109; duration = 202; initialDepth = 373.512437; finalDepth = 389.501567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.925983 # Actual altitude: 52.925983 # Commanded vehicle depth: 389.501567 # Seafloor depth: -442.427550 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 28 # Segment length 107.802147 meters # Minimum depth: 423.512437 meters looking forward 100.000000 meters along route # Maximum depth: 438.800062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 373.512437 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797188; longitude = -121.890230; duration = 215; initialDepth = 362.342370; finalDepth = 373.512437; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 65.287625 # Actual altitude: 65.287625 # Commanded vehicle depth: 373.512437 # Seafloor depth: -438.800062 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.59; 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 27 # Segment length 79.234613 meters # Minimum depth: 412.342370 meters looking forward 100.000000 meters along route # Maximum depth: 427.051722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 362.342370 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797046; longitude = -121.891425; duration = 158; # abortOnTimeout = True; initialDepth = 361.839876; finalDepth = 362.342370; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 65.287625 # Actual altitude: 65.287625 # Commanded vehicle depth: 362.34237 # Seafloor depth: -426.320198 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.59; 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 27 # Segment length 105.430480 meters # Minimum depth: 411.839876 meters looking forward 100.000000 meters along route # Maximum depth: 425.503469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 361.839876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797575; longitude = -121.892022; duration = 210; initialDepth = 369.407223; finalDepth = 361.839876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.977828 # Actual altitude: 63.977828 # Commanded vehicle depth: 361.839876 # Seafloor depth: -411.839876 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.19; 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 27 # Segment length 108.071972 meters # Minimum depth: 419.407223 meters looking forward 100.000000 meters along route # Maximum depth: 437.468622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 369.407223 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798278; longitude = -121.892817; duration = 216; initialDepth = 380.898876; finalDepth = 369.407223; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 369.407223 # Seafloor depth: -419.407223 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 27 # Segment length 103.581413 meters # Minimum depth: 430.898876 meters looking forward 100.000000 meters along route # Maximum depth: 443.848708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 380.898876 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798999; longitude = -121.893631; duration = 207; initialDepth = 385.615433; finalDepth = 380.898876; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 52.070006 # Actual altitude: 52.070006 # Commanded vehicle depth: 380.898876 # Seafloor depth: -432.968882 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 175.091059 meters # Minimum depth: 435.615433 meters looking forward 100.000000 meters along route # Maximum depth: 448.344288 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 385.615433 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799690; longitude = -121.894412; duration = 350; # abortOnTimeout = True; initialDepth = 377.033877; finalDepth = 385.615433; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.070006 # Actual altitude: 52.070006 # Commanded vehicle depth: 385.615433 # Seafloor depth: -435.615433 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.62; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 107.991727 meters # Minimum depth: 427.033877 meters looking forward 100.000000 meters along route # Maximum depth: 450.272736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 377.033877 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800396; longitude = -121.896167; duration = 215; initialDepth = 373.810623; finalDepth = 377.033877; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 73.238859 # Actual altitude: 73.238859 # Commanded vehicle depth: 377.033877 # Seafloor depth: -450.272736 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 117.831261 meters # Minimum depth: 423.810623 meters looking forward 100.000000 meters along route # Maximum depth: 448.897354 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 373.810623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800831; longitude = -121.897250; duration = 235; # abortOnTimeout = True; initialDepth = 401.906287; finalDepth = 373.810623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 73.238859 # Actual altitude: 73.238859 # Commanded vehicle depth: 373.810623 # Seafloor depth: -423.810623 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 100.480916 meters # Minimum depth: 451.906287 meters looking forward 100.000000 meters along route # Maximum depth: 465.051022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 401.906287 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800540; longitude = -121.898520; duration = 200; initialDepth = 387.349623; finalDepth = 401.906287; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 401.906287 # Seafloor depth: -451.906287 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 24 # Segment length 87.354673 meters # Minimum depth: 437.349623 meters looking forward 100.000000 meters along route # Maximum depth: 461.434621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 387.349623 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800291; longitude = -121.899603; duration = 174; # abortOnTimeout = True; initialDepth = 386.421010; finalDepth = 387.349623; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.135759 # Actual altitude: 71.135759 # Commanded vehicle depth: 387.349623 # Seafloor depth: -458.485382 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 24 # Segment length 100.727541 meters # Minimum depth: 436.421010 meters looking forward 100.000000 meters along route # Maximum depth: 466.749145 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 386.421010 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799900; longitude = -121.900453; duration = 201; initialDepth = 412.339471; finalDepth = 386.421010; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.135759 # Actual altitude: 71.135759 # Commanded vehicle depth: 386.42101 # Seafloor depth: -436.699807 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.34; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.727963 meters # Minimum depth: 462.339471 meters looking forward 100.000000 meters along route # Maximum depth: 469.235548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 412.339471 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799450; longitude = -121.901433; duration = 201; initialDepth = 417.164781; finalDepth = 412.339471; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.415603 # Actual altitude: 54.415603 # Commanded vehicle depth: 412.339471 # Seafloor depth: -466.755074 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.728385 meters # Minimum depth: 467.164781 meters looking forward 100.000000 meters along route # Maximum depth: 470.683162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 417.164781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798999; longitude = -121.902413; duration = 201; initialDepth = 417.367820; finalDepth = 417.164781; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.415603 # Actual altitude: 54.415603 # Commanded vehicle depth: 417.164781 # Seafloor depth: -468.092179 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.32; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.728806 meters # Minimum depth: 467.367820 meters looking forward 100.000000 meters along route # Maximum depth: 481.654234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 417.367820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.903393; duration = 201; initialDepth = 426.484601; finalDepth = 417.367820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.927398 # Actual altitude: 50.927398 # Commanded vehicle depth: 417.36782 # Seafloor depth: -467.367820 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.28; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 100.764157 meters # Minimum depth: 476.484601 meters looking forward 100.000000 meters along route # Maximum depth: 481.876859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 426.484601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798098; longitude = -121.904373; duration = 201; initialDepth = 427.559393; finalDepth = 426.484601; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.046852 # Actual altitude: 55.046852 # Commanded vehicle depth: 426.484601 # Seafloor depth: -481.531453 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 24 # Segment length 107.508258 meters # Minimum depth: 477.559393 meters looking forward 100.000000 meters along route # Maximum depth: 483.702267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 427.559393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797647; longitude = -121.905354; duration = 215; initialDepth = 430.855453; finalDepth = 427.559393; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 55.046852 # Actual altitude: 55.046852 # Commanded vehicle depth: 427.559393 # Seafloor depth: -477.559393 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 23 # Segment length 120.116817 meters # Minimum depth: 480.855453 meters looking forward 100.000000 meters along route # Maximum depth: 507.219289 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 430.855453 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797166; longitude = -121.906400; duration = 240; # abortOnTimeout = True; initialDepth = 425.087851; finalDepth = 430.855453; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 430.855453 # Seafloor depth: -480.855453 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 23 # Segment length 105.376451 meters # Minimum depth: 475.087851 meters looking forward 100.000000 meters along route # Maximum depth: 509.745362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 425.087851 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796110; longitude = -121.906698; duration = 210; initialDepth = 418.025043; finalDepth = 425.087851; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.194228 # Actual altitude: 82.194228 # Commanded vehicle depth: 425.087851 # Seafloor depth: -507.282079 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.66; 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 22 # Segment length 157.964765 meters # Minimum depth: 468.025043 meters looking forward 100.000000 meters along route # Maximum depth: 480.437716 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 418.025043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795184; longitude = -121.906960; duration = 315; # abortOnTimeout = True; initialDepth = 431.745389; finalDepth = 418.025043; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.194228 # Actual altitude: 82.194228 # Commanded vehicle depth: 418.025043 # Seafloor depth: -473.018967 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.66; 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 22 # Segment length 100.807824 meters # Minimum depth: 481.745389 meters looking forward 100.000000 meters along route # Maximum depth: 486.550592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 431.745389 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793772; longitude = -121.906734; duration = 201; initialDepth = 417.680056; finalDepth = 431.745389; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.993924 # Actual altitude: 54.993924 # Commanded vehicle depth: 431.745389 # Seafloor depth: -482.732262 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.50; 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 22 # Segment length 100.807832 meters # Minimum depth: 467.680056 meters looking forward 100.000000 meters along route # Maximum depth: 479.884060 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 417.680056 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792871; longitude = -121.906590; duration = 201; initialDepth = 415.456646; finalDepth = 417.680056; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.955928 # Actual altitude: 56.955928 # Commanded vehicle depth: 417.680056 # Seafloor depth: -474.635984 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.09; 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 22 # Segment length 100.807839 meters # Minimum depth: 465.456646 meters looking forward 100.000000 meters along route # Maximum depth: 473.015323 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 415.456646 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791969; longitude = -121.906446; duration = 201; initialDepth = 420.088333; finalDepth = 415.456646; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.558677 # Actual altitude: 57.558677 # Commanded vehicle depth: 415.456646 # Seafloor depth: -473.015323 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.807846 meters # Minimum depth: 470.088333 meters looking forward 100.000000 meters along route # Maximum depth: 473.622148 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 420.088333 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791068; longitude = -121.906302; duration = 201; initialDepth = 424.661148; finalDepth = 420.088333; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.558677 # Actual altitude: 57.558677 # Commanded vehicle depth: 420.088333 # Seafloor depth: -470.638098 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.27; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.807854 meters # Minimum depth: 474.661148 meters looking forward 100.000000 meters along route # Maximum depth: 478.663634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 424.661148 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790167; longitude = -121.906158; duration = 201; initialDepth = 425.308517; finalDepth = 424.661148; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.549765 # Actual altitude: 50.549765 # Commanded vehicle depth: 424.661148 # Seafloor depth: -474.661148 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.807862 meters # Minimum depth: 475.308517 meters looking forward 100.000000 meters along route # Maximum depth: 477.494254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 425.308517 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789266; longitude = -121.906014; duration = 201; initialDepth = 424.866777; finalDepth = 425.308517; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.772044 # Actual altitude: 51.772044 # Commanded vehicle depth: 425.308517 # Seafloor depth: -477.080561 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 100.807869 meters # Minimum depth: 474.866777 meters looking forward 100.000000 meters along route # Maximum depth: 476.825556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 424.866777 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788364; longitude = -121.905870; duration = 201; initialDepth = 422.581192; finalDepth = 424.866777; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.772044 # Actual altitude: 51.772044 # Commanded vehicle depth: 424.866777 # Seafloor depth: -475.949691 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.53; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 103.970283 meters # Minimum depth: 472.581192 meters looking forward 100.000000 meters along route # Maximum depth: 475.850490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 422.581192 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787463; longitude = -121.905726; duration = 207; initialDepth = 424.821109; finalDepth = 422.581192; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.874137 # Actual altitude: 52.874137 # Commanded vehicle depth: 422.581192 # Seafloor depth: -475.455329 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 22 # Segment length 104.311603 meters # Minimum depth: 474.821109 meters looking forward 100.000000 meters along route # Maximum depth: 485.807063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 424.821109 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786534; longitude = -121.905578; duration = 208; initialDepth = 432.450156; finalDepth = 424.821109; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 52.874137 # Actual altitude: 52.874137 # Commanded vehicle depth: 424.821109 # Seafloor depth: -474.821109 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 157.502303 meters # Minimum depth: 482.450156 meters looking forward 100.000000 meters along route # Maximum depth: 488.055778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 432.450156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785601; longitude = -121.905429; duration = 315; # abortOnTimeout = True; initialDepth = 411.087846; finalDepth = 432.450156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 54.035341 # Actual altitude: 54.035341 # Commanded vehicle depth: 432.450156 # Seafloor depth: -486.485497 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.21; 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 20 # Segment length 134.262648 meters # Minimum depth: 461.087846 meters looking forward 100.000000 meters along route # Maximum depth: 481.569733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 411.087846 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785450; longitude = -121.907184; duration = 268; # abortOnTimeout = True; initialDepth = 404.351426; finalDepth = 411.087846; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.481887 # Actual altitude: 70.481887 # Commanded vehicle depth: 411.087846 # Seafloor depth: -481.569733 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.14; 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 20 # Segment length 100.671276 meters # Minimum depth: 454.351426 meters looking forward 100.000000 meters along route # Maximum depth: 459.750551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 404.351426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786652; longitude = -121.907359; duration = 201; initialDepth = 398.316379; finalDepth = 404.351426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 70.481887 # Actual altitude: 70.481887 # Commanded vehicle depth: 404.351426 # Seafloor depth: -459.750551 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.14; 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 20 # Segment length 100.671272 meters # Minimum depth: 448.316379 meters looking forward 100.000000 meters along route # Maximum depth: 454.112500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 398.316379 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787553; longitude = -121.907491; duration = 201; initialDepth = 395.783577; finalDepth = 398.316379; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.796121 # Actual altitude: 55.796121 # Commanded vehicle depth: 398.316379 # Seafloor depth: -454.112500 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.74; 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 20 # Segment length 100.671268 meters # Minimum depth: 445.783577 meters looking forward 100.000000 meters along route # Maximum depth: 451.267274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 395.783577 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788454; longitude = -121.907622; duration = 201; initialDepth = 388.441524; finalDepth = 395.783577; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 55.796121 # Actual altitude: 55.796121 # Commanded vehicle depth: 395.783577 # Seafloor depth: -451.267274 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.74; 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 20 # Segment length 100.671264 meters # Minimum depth: 438.441524 meters looking forward 100.000000 meters along route # Maximum depth: 445.857413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 388.441524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789356; longitude = -121.907754; duration = 201; initialDepth = 370.239564; finalDepth = 388.441524; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.316303 # Actual altitude: 56.316303 # Commanded vehicle depth: 388.441524 # Seafloor depth: -444.757827 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.89; 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 20 # Segment length 100.671260 meters # Minimum depth: 420.239564 meters looking forward 100.000000 meters along route # Maximum depth: 437.254872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 370.239564 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790257; longitude = -121.907885; duration = 201; initialDepth = 363.096722; finalDepth = 370.239564; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.015308 # Actual altitude: 67.015308 # Commanded vehicle depth: 370.239564 # Seafloor depth: -437.254872 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.10; 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 20 # Segment length 100.671256 meters # Minimum depth: 413.096722 meters looking forward 100.000000 meters along route # Maximum depth: 420.008101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 363.096722 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791158; longitude = -121.908016; duration = 201; initialDepth = 364.451397; finalDepth = 363.096722; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.015308 # Actual altitude: 67.015308 # Commanded vehicle depth: 363.096722 # Seafloor depth: -420.008101 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.10; 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 20 # Segment length 100.671252 meters # Minimum depth: 414.451397 meters looking forward 100.000000 meters along route # Maximum depth: 422.406735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 364.451397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792059; longitude = -121.908148; duration = 201; initialDepth = 351.197660; finalDepth = 364.451397; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.911379 # Actual altitude: 56.911379 # Commanded vehicle depth: 364.451397 # Seafloor depth: -421.161436 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.671248 meters # Minimum depth: 401.197660 meters looking forward 100.000000 meters along route # Maximum depth: 413.473548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 351.197660 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792961; longitude = -121.908279; duration = 201; initialDepth = 341.382567; finalDepth = 351.197660; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.275888 # Actual altitude: 62.275888 # Commanded vehicle depth: 351.19766 # Seafloor depth: -413.473548 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 100.671244 meters # Minimum depth: 391.382567 meters looking forward 100.000000 meters along route # Maximum depth: 398.156657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 341.382567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793862; longitude = -121.908411; duration = 201; initialDepth = 347.646071; finalDepth = 341.382567; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.275888 # Actual altitude: 62.275888 # Commanded vehicle depth: 341.382567 # Seafloor depth: -398.156657 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.68; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 20 # Segment length 103.980876 meters # Minimum depth: 397.646071 meters looking forward 100.000000 meters along route # Maximum depth: 414.432459 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 347.646071 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794763; longitude = -121.908542; duration = 207; initialDepth = 362.473771; finalDepth = 347.646071; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 56.77409 # Actual altitude: 56.77409 # Commanded vehicle depth: 347.646071 # Seafloor depth: -397.646071 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.03; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 76.864565 meters # Minimum depth: 412.473771 meters looking forward 100.000000 meters along route # Maximum depth: 419.121486 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 362.473771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795694; longitude = -121.908678; duration = 153; # abortOnTimeout = True; initialDepth = 372.395191; finalDepth = 362.473771; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.563819 # Actual altitude: 53.563819 # Commanded vehicle depth: 362.473771 # Seafloor depth: -416.037590 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 100.891100 meters # Minimum depth: 422.395191 meters looking forward 100.000000 meters along route # Maximum depth: 444.110386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 372.395191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796344; longitude = -121.908379; duration = 201; initialDepth = 344.225077; finalDepth = 372.395191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.563819 # Actual altitude: 53.563819 # Commanded vehicle depth: 372.395191 # Seafloor depth: -422.395191 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.07; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 19 # Segment length 110.206115 meters # Minimum depth: 394.225077 meters looking forward 100.000000 meters along route # Maximum depth: 439.462184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 344.225077 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797196; longitude = -121.907986; duration = 220; initialDepth = 348.472275; finalDepth = 344.225077; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 94.239578 # Actual altitude: 94.239578 # Commanded vehicle depth: 344.225077 # Seafloor depth: -438.464655 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.27; 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 18 # Segment length 155.648877 meters # Minimum depth: 398.472275 meters looking forward 100.000000 meters along route # Maximum depth: 428.386731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 348.472275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798128; longitude = -121.907557; duration = 311; # abortOnTimeout = True; initialDepth = 381.920923; finalDepth = 348.472275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 94.239578 # Actual altitude: 94.239578 # Commanded vehicle depth: 348.472275 # Seafloor depth: -398.472275 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 28.27; 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 18 # Segment length 102.514110 meters # Minimum depth: 431.920923 meters looking forward 100.000000 meters along route # Maximum depth: 447.651359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 381.920923 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798801; longitude = -121.906026; duration = 205; initialDepth = 385.596468; finalDepth = 381.920923; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 381.920923 # Seafloor depth: -431.920923 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.513679 meters # Minimum depth: 435.596468 meters looking forward 100.000000 meters along route # Maximum depth: 447.326157 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 385.596468 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799244; longitude = -121.905018; duration = 205; initialDepth = 374.968795; finalDepth = 385.596468; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.562107 # Actual altitude: 59.562107 # Commanded vehicle depth: 385.596468 # Seafloor depth: -445.158575 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.513248 meters # Minimum depth: 424.968795 meters looking forward 100.000000 meters along route # Maximum depth: 433.430731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 374.968795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799687; longitude = -121.904010; duration = 205; initialDepth = 350.852584; finalDepth = 374.968795; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.562107 # Actual altitude: 59.562107 # Commanded vehicle depth: 374.968795 # Seafloor depth: -433.430731 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.87; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 18 # Segment length 102.512817 meters # Minimum depth: 400.852584 meters looking forward 100.000000 meters along route # Maximum depth: 423.817427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 350.852584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800130; longitude = -121.903001; duration = 205; initialDepth = 310.809361; finalDepth = 350.852584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 72.964843 # Actual altitude: 72.964843 # Commanded vehicle depth: 350.852584 # Seafloor depth: -423.817427 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.89; 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 18 # Segment length 102.512386 meters # Minimum depth: 360.809361 meters looking forward 100.000000 meters along route # Maximum depth: 398.388003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 310.809361 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800573; longitude = -121.901993; duration = 205; initialDepth = 300.831426; finalDepth = 310.809361; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.578642 # Actual altitude: 87.578642 # Commanded vehicle depth: 310.809361 # Seafloor depth: -398.388003 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.27; 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 18 # Segment length 110.077542 meters # Minimum depth: 350.831426 meters looking forward 100.000000 meters along route # Maximum depth: 360.411808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 300.831426 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801016; longitude = -121.900985; duration = 220; initialDepth = 302.014061; finalDepth = 300.831426; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 87.578642 # Actual altitude: 87.578642 # Commanded vehicle depth: 300.831426 # Seafloor depth: -359.626988 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.27; 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 17 # Segment length 104.926492 meters # Minimum depth: 352.014061 meters looking forward 100.000000 meters along route # Maximum depth: 373.001626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 302.014061 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801492; longitude = -121.899902; duration = 209; # abortOnTimeout = True; initialDepth = 306.037948; finalDepth = 302.014061; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.795562 # Actual altitude: 58.795562 # Commanded vehicle depth: 302.014061 # Seafloor depth: -352.014061 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.64; 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 17 # Segment length 104.938442 meters # Minimum depth: 356.037948 meters looking forward 100.000000 meters along route # Maximum depth: 368.493118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 306.037948 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801657; longitude = -121.898744; duration = 209; initialDepth = 293.604119; finalDepth = 306.037948; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.151385 # Actual altitude: 60.151385 # Commanded vehicle depth: 306.037948 # Seafloor depth: -366.189333 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.05; 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 to get to end of line 16 # Segment length 154.947777 meters # Minimum depth: 343.604119 meters looking forward 100.000000 meters along route # Maximum depth: 356.573987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 293.604119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801823; longitude = -121.897586; duration = 309; # abortOnTimeout = True; initialDepth = 309.341102; finalDepth = 293.604119; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.151385 # Actual altitude: 60.151385 # Commanded vehicle depth: 293.604119 # Seafloor depth: -351.049103 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.05; 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 16 # Segment length 105.672962 meters # Minimum depth: 359.341102 meters looking forward 100.000000 meters along route # Maximum depth: 368.535745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 309.341102 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801370; longitude = -121.895943; duration = 211; initialDepth = 297.058321; finalDepth = 309.341102; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.444984 # Actual altitude: 57.444984 # Commanded vehicle depth: 309.341102 # Seafloor depth: -361.974569 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.23; 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 16 # Segment length 109.224651 meters # Minimum depth: 347.058321 meters looking forward 100.000000 meters along route # Maximum depth: 357.850741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 297.058321 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801061; longitude = -121.894823; duration = 218; initialDepth = 293.388442; finalDepth = 297.058321; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 60.79242 # Actual altitude: 60.79242 # Commanded vehicle depth: 297.058321 # Seafloor depth: -357.850741 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.24; 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 to get to end of line 15 # Segment length 170.172890 meters # Minimum depth: 343.388442 meters looking forward 100.000000 meters along route # Maximum depth: 362.338895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 293.388442 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800741; longitude = -121.893665; duration = 340; # abortOnTimeout = True; initialDepth = 293.518902; finalDepth = 293.388442; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.79242 # Actual altitude: 60.79242 # Commanded vehicle depth: 293.388442 # Seafloor depth: -353.983894 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.24; 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 15 # Segment length 110.419003 meters # Minimum depth: 343.518902 meters looking forward 100.000000 meters along route # Maximum depth: 356.055860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 293.518902 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799630; longitude = -121.892350; duration = 220; initialDepth = 306.731519; finalDepth = 293.518902; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.595452 # Actual altitude: 60.595452 # Commanded vehicle depth: 293.518902 # Seafloor depth: -343.518902 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.18; 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 15 # Segment length 101.206915 meters # Minimum depth: 356.731519 meters looking forward 100.000000 meters along route # Maximum depth: 380.843336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 306.731519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798909; longitude = -121.891497; duration = 202; initialDepth = 321.000419; finalDepth = 306.731519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 306.731519 # Seafloor depth: -356.731519 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 84.407240 meters # Minimum depth: 371.000419 meters looking forward 100.000000 meters along route # Maximum depth: 382.595497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 321.000419 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798248; longitude = -121.890715; duration = 168; # abortOnTimeout = True; initialDepth = 321.385636; finalDepth = 321.000419; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.595078 # Actual altitude: 61.595078 # Commanded vehicle depth: 321.000419 # Seafloor depth: -382.595497 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 101.304035 meters # Minimum depth: 371.385636 meters looking forward 100.000000 meters along route # Maximum depth: 397.595578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 321.385636 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798372; longitude = -121.889782; duration = 202; initialDepth = 343.766559; finalDepth = 321.385636; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.595078 # Actual altitude: 61.595078 # Commanded vehicle depth: 321.385636 # Seafloor depth: -371.385636 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 101.303870 meters # Minimum depth: 393.766559 meters looking forward 100.000000 meters along route # Maximum depth: 399.287250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 343.766559 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798520; longitude = -121.888661; duration = 202; initialDepth = 312.048684; finalDepth = 343.766559; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.752099 # Actual altitude: 50.752099 # Commanded vehicle depth: 343.766559 # Seafloor depth: -394.518658 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 14 # Segment length 102.374547 meters # Minimum depth: 362.048684 meters looking forward 100.000000 meters along route # Maximum depth: 400.178968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 312.048684 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798669; longitude = -121.887541; duration = 204; initialDepth = 303.418261; finalDepth = 312.048684; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.865615 # Actual altitude: 87.865615 # Commanded vehicle depth: 312.048684 # Seafloor depth: -399.914299 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.36; 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 14 # Segment length 100.232695 meters # Minimum depth: 353.418261 meters looking forward 100.000000 meters along route # Maximum depth: 361.782239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 303.418261 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798819; longitude = -121.886409; duration = 200; initialDepth = 310.008899; finalDepth = 303.418261; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.865615 # Actual altitude: 87.865615 # Commanded vehicle depth: 303.418261 # Seafloor depth: -361.782239 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.36; 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 14 # Segment length 104.646526 meters # Minimum depth: 360.008899 meters looking forward 100.000000 meters along route # Maximum depth: 368.799383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 310.008899 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798966; longitude = -121.885300; duration = 209; initialDepth = 315.161858; finalDepth = 310.008899; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.363978 # Actual altitude: 58.363978 # Commanded vehicle depth: 310.008899 # Seafloor depth: -360.008899 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.51; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 103.904900 meters # Minimum depth: 365.161858 meters looking forward 100.000000 meters along route # Maximum depth: 373.505571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 315.161858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799119; longitude = -121.884143; duration = 207; # abortOnTimeout = True; initialDepth = 317.015584; finalDepth = 315.161858; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 315.161858 # Seafloor depth: -365.161858 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.860470 meters # Minimum depth: 367.015584 meters looking forward 100.000000 meters along route # Maximum depth: 373.751579 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 317.015584 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798602; longitude = -121.883172; duration = 215; initialDepth = 316.745275; finalDepth = 317.015584; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.855635 # Actual altitude: 52.855635 # Commanded vehicle depth: 317.015584 # Seafloor depth: -369.871219 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.861014 meters # Minimum depth: 366.745275 meters looking forward 100.000000 meters along route # Maximum depth: 372.581171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 316.745275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798066; longitude = -121.882163; duration = 215; initialDepth = 318.651644; finalDepth = 316.745275; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.855635 # Actual altitude: 52.855635 # Commanded vehicle depth: 316.745275 # Seafloor depth: -366.745275 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.86; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.861558 meters # Minimum depth: 368.651644 meters looking forward 100.000000 meters along route # Maximum depth: 379.124123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 318.651644 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797530; longitude = -121.881155; duration = 215; initialDepth = 319.143191; finalDepth = 318.651644; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 318.651644 # Seafloor depth: -368.651644 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 107.862102 meters # Minimum depth: 369.143191 meters looking forward 100.000000 meters along route # Maximum depth: 378.162759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 319.143191 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796993; longitude = -121.880147; duration = 215; initialDepth = 311.914118; finalDepth = 319.143191; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.582851 # Actual altitude: 58.582851 # Commanded vehicle depth: 319.143191 # Seafloor depth: -377.726042 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 104.991005 meters # Minimum depth: 361.914118 meters looking forward 100.000000 meters along route # Maximum depth: 371.180361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 311.914118 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796457; longitude = -121.879139; duration = 209; initialDepth = 310.212749; finalDepth = 311.914118; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.582851 # Actual altitude: 58.582851 # Commanded vehicle depth: 311.914118 # Seafloor depth: -369.761900 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.57; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 13 # Segment length 102.710198 meters # Minimum depth: 360.212749 meters looking forward 100.000000 meters along route # Maximum depth: 362.623957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 310.212749 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795935; longitude = -121.878157; duration = 205; initialDepth = 306.059221; finalDepth = 310.212749; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.8477820000001 # Actual altitude: 57.8477820000001 # Commanded vehicle depth: 310.212749 # Seafloor depth: -362.264906 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.35; 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 to get to end of line 12 # Segment length 91.127358 meters # Minimum depth: 356.059221 meters looking forward 100.000000 meters along route # Maximum depth: 362.796333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 306.059221 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795424; longitude = -121.877197; duration = 182; # abortOnTimeout = True; initialDepth = 290.986047; finalDepth = 306.059221; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.737112 # Actual altitude: 56.737112 # Commanded vehicle depth: 306.059221 # Seafloor depth: -362.796333 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.02; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 101.803292 meters # Minimum depth: 340.986047 meters looking forward 100.000000 meters along route # Maximum depth: 355.178230 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 290.986047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795754; longitude = -121.876262; duration = 203; initialDepth = 274.233519; finalDepth = 290.986047; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.192183 # Actual altitude: 64.192183 # Commanded vehicle depth: 290.986047 # Seafloor depth: -355.178230 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.26; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.187495 meters # Minimum depth: 324.233519 meters looking forward 100.000000 meters along route # Maximum depth: 340.770745 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 274.233519 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796124; longitude = -121.875217; duration = 218; initialDepth = 260.638984; finalDepth = 274.233519; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.537226 # Actual altitude: 66.537226 # Commanded vehicle depth: 274.233519 # Seafloor depth: -340.770745 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.96; 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 12 # Segment length 109.187052 meters # Minimum depth: 310.638984 meters looking forward 100.000000 meters along route # Maximum depth: 322.998227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 260.638984 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796520; longitude = -121.874097; duration = 218; initialDepth = 250.208615; finalDepth = 260.638984; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 66.537226 # Actual altitude: 66.537226 # Commanded vehicle depth: 260.638984 # Seafloor depth: -322.998227 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.96; 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 12 # Segment length 102.266356 meters # Minimum depth: 300.208615 meters looking forward 100.000000 meters along route # Maximum depth: 309.249868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 250.208615 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796916; longitude = -121.872977; duration = 204; initialDepth = 240.971992; finalDepth = 250.208615; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 62.359243 # Actual altitude: 62.359243 # Commanded vehicle depth: 250.208615 # Seafloor depth: -309.249868 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.71; 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 12 # Segment length 105.187823 meters # Minimum depth: 290.971992 meters looking forward 100.000000 meters along route # Maximum depth: 299.721083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 240.971992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797287; longitude = -121.871928; duration = 210; initialDepth = 241.177150; finalDepth = 240.971992; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 59.041253 # Actual altitude: 59.041253 # Commanded vehicle depth: 240.971992 # Seafloor depth: -299.721083 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.71; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.185767 meters # Minimum depth: 291.177150 meters looking forward 100.000000 meters along route # Maximum depth: 303.817217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 241.177150 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797668; longitude = -121.870848; duration = 218; initialDepth = 256.145204; finalDepth = 241.177150; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.749091 # Actual altitude: 58.749091 # Commanded vehicle depth: 241.17715 # Seafloor depth: -291.864630 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.62; 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 109.185325 meters # Minimum depth: 306.145204 meters looking forward 100.000000 meters along route # Maximum depth: 315.917488 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 256.145204 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798064; longitude = -121.869728; duration = 218; initialDepth = 261.627998; finalDepth = 256.145204; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50.68748 # Actual altitude: 50.68748 # Commanded vehicle depth: 256.145204 # Seafloor depth: -306.145204 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.21; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 109.184882 meters # Minimum depth: 311.627998 meters looking forward 100.000000 meters along route # Maximum depth: 315.126727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 261.627998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798460; longitude = -121.868608; duration = 218; initialDepth = 253.655329; finalDepth = 261.627998; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.018876 # Actual altitude: 53.018876 # Commanded vehicle depth: 261.627998 # Seafloor depth: -314.646874 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.91; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 12 # Segment length 105.574917 meters # Minimum depth: 303.655329 meters looking forward 100.000000 meters along route # Maximum depth: 310.860291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 253.655329 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798856; longitude = -121.867487; duration = 211; initialDepth = 229.961622; finalDepth = 253.655329; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 57.204962 # Actual altitude: 57.204962 # Commanded vehicle depth: 253.655329 # Seafloor depth: -310.860291 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 125.521310 meters # Minimum depth: 279.961622 meters looking forward 100.000000 meters along route # Maximum depth: 304.427544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 229.961622 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799239; longitude = -121.866404; duration = 251; # abortOnTimeout = True; initialDepth = 221.358908; finalDepth = 229.961622; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 74.465922 # Actual altitude: 74.465922 # Commanded vehicle depth: 229.961622 # Seafloor depth: -304.427544 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.34; 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 11 # Segment length 110.514447 meters # Minimum depth: 271.358908 meters looking forward 100.000000 meters along route # Maximum depth: 279.789505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 221.358908 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800086; longitude = -121.865471; duration = 221; initialDepth = 200.522699; finalDepth = 221.358908; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 74.465922 # Actual altitude: 74.465922 # Commanded vehicle depth: 221.358908 # Seafloor depth: -279.789505 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 22.34; 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 10 # Segment length 155.097267 meters # Minimum depth: 250.522699 meters looking forward 100.000000 meters along route # Maximum depth: 271.869347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 200.522699 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800831; longitude = -121.864649; duration = 310; # abortOnTimeout = True; initialDepth = 190.170723; finalDepth = 200.522699; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.346648 # Actual altitude: 71.346648 # Commanded vehicle depth: 200.522699 # Seafloor depth: -271.869347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.40; 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 102.096671 meters # Minimum depth: 240.170723 meters looking forward 100.000000 meters along route # Maximum depth: 266.960146 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 190.170723 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802063; longitude = -121.863828; duration = 204; initialDepth = 173.102477; finalDepth = 190.170723; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 71.346648 # Actual altitude: 71.346648 # Commanded vehicle depth: 190.170723 # Seafloor depth: -250.176792 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 21.40; 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 109.596411 meters # Minimum depth: 223.102477 meters looking forward 100.000000 meters along route # Maximum depth: 263.299979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 173.102477 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802874; longitude = -121.863287; duration = 219; initialDepth = 173.236504; finalDepth = 173.102477; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 87.672313 # Actual altitude: 87.672313 # Commanded vehicle depth: 173.102477 # Seafloor depth: -260.774790 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.30; 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 9 # Segment length 118.426191 meters # Minimum depth: 223.236504 meters looking forward 100.000000 meters along route # Maximum depth: 247.013809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 173.236504 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803745; longitude = -121.862707; duration = 236; # abortOnTimeout = True; initialDepth = 198.807317; finalDepth = 173.236504; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 87.672313 # Actual altitude: 87.672313 # Commanded vehicle depth: 173.236504 # Seafloor depth: -223.236504 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.30; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 104.515408 meters # Minimum depth: 248.807317 meters looking forward 100.000000 meters along route # Maximum depth: 274.845403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 198.807317 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804057; longitude = -121.861438; duration = 209; initialDepth = 223.810430; finalDepth = 198.807317; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 198.807317 # Seafloor depth: -248.807317 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 9 # Segment length 107.961950 meters # Minimum depth: 273.810430 meters looking forward 100.000000 meters along route # Maximum depth: 292.226947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 223.810430 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804332; longitude = -121.860317; duration = 215; initialDepth = 223.018016; finalDepth = 223.810430; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth: 223.81043 # Seafloor depth: -273.810430 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 168.441170 meters # Minimum depth: 273.018016 meters looking forward 100.000000 meters along route # Maximum depth: 296.749842 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 223.018016 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804617; longitude = -121.859160; duration = 336; # abortOnTimeout = True; initialDepth = 216.971683; finalDepth = 223.018016; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 68.529378 # Actual altitude: 68.529378 # Commanded vehicle depth: 223.018016 # Seafloor depth: -291.547394 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 8 # Segment length 104.389376 meters # Minimum depth: 266.971683 meters looking forward 100.000000 meters along route # Maximum depth: 275.171925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 216.971683 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804394; longitude = -121.857292; duration = 208; initialDepth = 227.581642; finalDepth = 216.971683; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 68.529378 # Actual altitude: 68.529378 # Commanded vehicle depth: 216.971683 # Seafloor depth: -269.908582 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.56; 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 7 # Segment length 134.967583 meters # Minimum depth: 277.581642 meters looking forward 100.000000 meters along route # Maximum depth: 293.849956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 227.581642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804256; longitude = -121.856135; duration = 269; # abortOnTimeout = True; initialDepth = 230.489308; finalDepth = 227.581642; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.936899 # Actual altitude: 52.936899 # Commanded vehicle depth: 227.581642 # Seafloor depth: -277.581642 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.88; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.985078 meters # Minimum depth: 280.489308 meters looking forward 100.000000 meters along route # Maximum depth: 293.805556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 230.489308 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803323; longitude = -121.855164; duration = 217; initialDepth = 219.691310; finalDepth = 230.489308; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.316248 # Actual altitude: 63.316248 # Commanded vehicle depth: 230.489308 # Seafloor depth: -293.805556 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.99; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 7 # Segment length 103.756309 meters # Minimum depth: 269.691310 meters looking forward 100.000000 meters along route # Maximum depth: 279.983265 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 219.691310 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802570; longitude = -121.854380; duration = 207; initialDepth = 220.773125; finalDepth = 219.691310; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 63.316248 # Actual altitude: 63.316248 # Commanded vehicle depth: 219.69131 # Seafloor depth: -279.983265 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.99; 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 to get to end of line 6 # Segment length 175.990623 meters # Minimum depth: 270.773125 meters looking forward 100.000000 meters along route # Maximum depth: 284.164339 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 220.773125 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801853; longitude = -121.853633; duration = 351; # abortOnTimeout = True; initialDepth = 217.242653; finalDepth = 220.773125; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.291955 # Actual altitude: 60.291955 # Commanded vehicle depth: 220.773125 # Seafloor depth: -278.505119 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.09; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.093594 meters # Minimum depth: 267.242653 meters looking forward 100.000000 meters along route # Maximum depth: 272.755952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 217.242653 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800441; longitude = -121.852734; duration = 202; initialDepth = 224.179420; finalDepth = 217.242653; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.731994 # Actual altitude: 57.731994 # Commanded vehicle depth: 217.242653 # Seafloor depth: -268.006684 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.32; 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 6 # Segment length 104.921928 meters # Minimum depth: 274.179420 meters looking forward 100.000000 meters along route # Maximum depth: 281.080247 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 224.179420 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799630; longitude = -121.852218; duration = 209; initialDepth = 216.130854; finalDepth = 224.179420; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.764031 # Actual altitude: 50.764031 # Commanded vehicle depth: 224.17942 # Seafloor depth: -274.179420 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.23; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 117.526717 meters # Minimum depth: 266.130854 meters looking forward 100.000000 meters along route # Maximum depth: 279.984917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 216.130854 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798788; longitude = -121.851682; duration = 235; # abortOnTimeout = True; initialDepth = 209.878172; finalDepth = 216.130854; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.854063 # Actual altitude: 63.854063 # Commanded vehicle depth: 216.130854 # Seafloor depth: -279.984917 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.614639 meters # Minimum depth: 259.878172 meters looking forward 100.000000 meters along route # Maximum depth: 266.130661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 209.878172 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798396; longitude = -121.850458; duration = 215; initialDepth = 203.909156; finalDepth = 209.878172; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.854063 # Actual altitude: 63.854063 # Commanded vehicle depth: 209.878172 # Seafloor depth: -266.130661 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.16; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.615099 meters # Minimum depth: 253.909156 meters looking forward 100.000000 meters along route # Maximum depth: 262.784118 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 203.909156 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798036; longitude = -121.849338; duration = 215; initialDepth = 188.588831; finalDepth = 203.909156; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.874962 # Actual altitude: 58.874962 # Commanded vehicle depth: 203.909156 # Seafloor depth: -262.784118 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.66; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.615559 meters # Minimum depth: 238.588831 meters looking forward 100.000000 meters along route # Maximum depth: 252.088181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 188.588831 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797677; longitude = -121.848218; duration = 215; initialDepth = 187.425255; finalDepth = 188.588831; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.49935 # Actual altitude: 63.49935 # Commanded vehicle depth: 188.588831 # Seafloor depth: -252.088181 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; 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 5 # Segment length 107.616019 meters # Minimum depth: 237.425255 meters looking forward 100.000000 meters along route # Maximum depth: 239.366940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 187.425255 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797317; longitude = -121.847098; duration = 215; initialDepth = 181.755571; finalDepth = 187.425255; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 63.49935 # Actual altitude: 63.49935 # Commanded vehicle depth: 187.425255 # Seafloor depth: -239.175392 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.05; 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 5 # Segment length 107.616479 meters # Minimum depth: 231.755571 meters looking forward 100.000000 meters along route # Maximum depth: 245.818650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 181.755571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796958; longitude = -121.845977; duration = 215; initialDepth = 166.524654; finalDepth = 181.755571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.602031 # Actual altitude: 61.602031 # Commanded vehicle depth: 181.755571 # Seafloor depth: -243.357602 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.48; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.616940 meters # Minimum depth: 216.524654 meters looking forward 100.000000 meters along route # Maximum depth: 230.837466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 166.524654 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796599; longitude = -121.844857; duration = 215; initialDepth = 164.057801; finalDepth = 166.524654; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.312812 # Actual altitude: 64.312812 # Commanded vehicle depth: 166.524654 # Seafloor depth: -230.837466 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.29; 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 5 # Segment length 107.617400 meters # Minimum depth: 214.057801 meters looking forward 100.000000 meters along route # Maximum depth: 217.204734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 164.057801 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796239; longitude = -121.843737; duration = 215; initialDepth = 163.441925; finalDepth = 164.057801; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 64.312812 # Actual altitude: 64.312812 # Commanded vehicle depth: 164.057801 # Seafloor depth: -215.804203 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 19.29; 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 5 # Segment length 107.617861 meters # Minimum depth: 213.441925 meters looking forward 100.000000 meters along route # Maximum depth: 221.087502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 163.441925 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795880; longitude = -121.842616; duration = 215; initialDepth = 171.418889; finalDepth = 163.441925; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.731102 # Actual altitude: 53.731102 # Commanded vehicle depth: 163.441925 # Seafloor depth: -217.173027 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.12; 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 5 # Segment length 107.618320 meters # Minimum depth: 221.418889 meters looking forward 100.000000 meters along route # Maximum depth: 225.255019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 171.418889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795521; longitude = -121.841496; duration = 215; initialDepth = 171.683251; finalDepth = 171.418889; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.731102 # Actual altitude: 53.731102 # Commanded vehicle depth: 171.418889 # Seafloor depth: -221.418889 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.12; 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 5 # Segment length 107.618781 meters # Minimum depth: 221.683251 meters looking forward 100.000000 meters along route # Maximum depth: 225.974161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 171.683251 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795161; longitude = -121.840376; duration = 215; initialDepth = 166.059535; finalDepth = 171.683251; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 53.534969 # Actual altitude: 53.534969 # Commanded vehicle depth: 171.683251 # Seafloor depth: -225.218220 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.06; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.619242 meters # Minimum depth: 216.059535 meters looking forward 100.000000 meters along route # Maximum depth: 222.896208 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 166.059535 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794802; longitude = -121.839255; duration = 215; initialDepth = 156.873217; finalDepth = 166.059535; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 56.836673 # Actual altitude: 56.836673 # Commanded vehicle depth: 166.059535 # Seafloor depth: -222.896208 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.05; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.619702 meters # Minimum depth: 206.873217 meters looking forward 100.000000 meters along route # Maximum depth: 214.175744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 156.873217 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794443; longitude = -121.838135; duration = 215; initialDepth = 151.263783; finalDepth = 156.873217; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.302527 # Actual altitude: 57.302527 # Commanded vehicle depth: 156.873217 # Seafloor depth: -214.175744 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.19; 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 5 # Segment length 107.620162 meters # Minimum depth: 201.263783 meters looking forward 100.000000 meters along route # Maximum depth: 210.076773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 151.263783 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794083; longitude = -121.837015; duration = 215; initialDepth = 155.821415; finalDepth = 151.263783; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 57.302527 # Actual altitude: 57.302527 # Commanded vehicle depth: 151.263783 # Seafloor depth: -205.883478 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.19; 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 5 # Segment length 107.620623 meters # Minimum depth: 205.821415 meters looking forward 100.000000 meters along route # Maximum depth: 209.830710 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 155.821415 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793724; longitude = -121.835894; duration = 215; initialDepth = 134.787470; finalDepth = 155.821415; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 54.619695 # Actual altitude: 54.619695 # Commanded vehicle depth: 155.821415 # Seafloor depth: -209.830710 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 16.39; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 5 # Segment length 107.621083 meters # Minimum depth: 184.787470 meters looking forward 100.000000 meters along route # Maximum depth: 202.239161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.787470 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793365; longitude = -121.834774; duration = 215; initialDepth = 137.831571; finalDepth = 134.787470; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.451691 # Actual altitude: 67.451691 # Commanded vehicle depth: 134.78747 # Seafloor depth: -202.239161 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.24; 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 5 # Segment length 107.621544 meters # Minimum depth: 187.831571 meters looking forward 100.000000 meters along route # Maximum depth: 198.186567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 137.831571 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793005; longitude = -121.833654; duration = 215; initialDepth = 111.183244; finalDepth = 137.831571; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 67.451691 # Actual altitude: 67.451691 # Commanded vehicle depth: 137.831571 # Seafloor depth: -187.831571 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 20.24; 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 5 # Segment length 107.622004 meters # Minimum depth: 161.183244 meters looking forward 100.000000 meters along route # Maximum depth: 193.544347 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 111.183244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792646; longitude = -121.832533; duration = 215; initialDepth = 110.070896; finalDepth = 111.183244; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 82.361103 # Actual altitude: 82.361103 # Commanded vehicle depth: 111.183244 # Seafloor depth: -193.544347 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.71; 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 5 # Segment length 104.050829 meters # Minimum depth: 160.070896 meters looking forward 100.000000 meters along route # Maximum depth: 168.534098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 110.070896 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792286; longitude = -121.831413; duration = 208; initialDepth = 120.109791; finalDepth = 110.070896; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 82.361103 # Actual altitude: 82.361103 # Commanded vehicle depth: 110.070896 # Seafloor depth: -161.811754 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 24.71; 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 4 # Segment length 122.841577 meters # Minimum depth: 170.109791 meters looking forward 100.000000 meters along route # Maximum depth: 175.492362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 120.109791 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791939; longitude = -121.830330; duration = 245; # abortOnTimeout = True; initialDepth = 112.086790; finalDepth = 120.109791; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 51.740858 # Actual altitude: 51.740858 # Commanded vehicle depth: 120.109791 # Seafloor depth: -170.109791 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.52; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.161501 meters # Minimum depth: 162.086790 meters looking forward 100.000000 meters along route # Maximum depth: 170.930629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 112.086790 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792367; longitude = -121.829060; duration = 202; initialDepth = 111.223600; finalDepth = 112.086790; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.843839 # Actual altitude: 58.843839 # Commanded vehicle depth: 112.08679 # Seafloor depth: -170.930629 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 172.853208 meters # Minimum depth: 161.223600 meters looking forward 100.000000 meters along route # Maximum depth: 167.375291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 111.223600 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792720; longitude = -121.828015; duration = 345; # abortOnTimeout = True; initialDepth = 102.818094; finalDepth = 111.223600; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.843839 # Actual altitude: 58.843839 # Commanded vehicle depth: 111.2236 # Seafloor depth: -163.554672 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.65; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.158029 meters # Minimum depth: 152.818094 meters looking forward 100.000000 meters along route # Maximum depth: 161.113030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.818094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793780; longitude = -121.826596; duration = 218; initialDepth = 103.919365; finalDepth = 102.818094; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 58.294936 # Actual altitude: 58.294936 # Commanded vehicle depth: 102.818094 # Seafloor depth: -161.113030 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; 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 3 # Segment length 100.056800 meters # Minimum depth: 153.919365 meters looking forward 100.000000 meters along route # Maximum depth: 155.898774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 103.919365 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794450; longitude = -121.825700; duration = 200; initialDepth = 94.029776; finalDepth = 103.919365; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 58.294936 # Actual altitude: 58.294936 # Commanded vehicle depth: 103.919365 # Seafloor depth: -154.632585 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 17.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 87.054618 meters # Minimum depth: 144.029776 meters looking forward 100.000000 meters along route # Maximum depth: 154.914992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.029776 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795064; longitude = -121.824878; duration = 174; # abortOnTimeout = True; initialDepth = 61.880820; finalDepth = 94.029776; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 60.80023 # Actual altitude: 60.80023 # Commanded vehicle depth: 94.029776 # Seafloor depth: -154.830006 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.24; 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 2 # Segment length 100.506346 meters # Minimum depth: 111.880820 meters looking forward 100.000000 meters along route # Maximum depth: 141.762348 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.880820 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795845; longitude = -121.824779; duration = 201; initialDepth = 46.604465; finalDepth = 61.880820; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.881528 # Actual altitude: 79.881528 # Commanded vehicle depth: 61.88082 # Seafloor depth: -141.762348 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.96; 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 2 # Segment length 100.506352 meters # Minimum depth: 96.604465 meters looking forward 100.000000 meters along route # Maximum depth: 107.781255 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.604465 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796746; longitude = -121.824665; duration = 201; initialDepth = 45.316051; finalDepth = 46.604465; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 79.881528 # Actual altitude: 79.881528 # Commanded vehicle depth: 46.604465 # Seafloor depth: -107.781255 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 23.96; 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 2 # Segment length 100.506357 meters # Minimum depth: 95.316051 meters looking forward 100.000000 meters along route # Maximum depth: 112.473009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.316051 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797647; longitude = -121.824550; duration = 201; initialDepth = 63.120528; finalDepth = 45.316051; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.17679 # Actual altitude: 61.17679 # Commanded vehicle depth: 45.316051 # Seafloor depth: -96.045853 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.35; 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 2 # Segment length 103.898450 meters # Minimum depth: 113.120528 meters looking forward 100.000000 meters along route # Maximum depth: 121.524505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 63.120528 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798548; longitude = -121.824436; duration = 207; initialDepth = 61.050000; finalDepth = 63.120528; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 1 # Commanded altitude: 50.729802 # Actual altitude: 50.729802 # Commanded vehicle depth: 63.120528 # Seafloor depth: -113.120528 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; 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 to get to end of line 1 # Segment length 106.802424 meters # Minimum depth: 111.050000 meters looking forward 100.000000 meters along route # Maximum depth: 122.685907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.050000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.799480; longitude = -121.824318; duration = 213; # abortOnTimeout = True; initialDepth = 54.243450; finalDepth = 61.050000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.635907 # Actual altitude: 61.635907 # Commanded vehicle depth: 61.05 # Seafloor depth: -122.685907 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.166409 meters # Minimum depth: 104.243450 meters looking forward 100.000000 meters along route # Maximum depth: 114.581821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 54.243450 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.800441; longitude = -121.824389; duration = 200; initialDepth = 9.833009; finalDepth = 54.243450; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 61.635907 # Actual altitude: 61.635907 # Commanded vehicle depth: 54.24345 # Seafloor depth: -110.878842 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 18.49; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 100.166417 meters # Minimum depth: 59.833009 meters looking forward 100.000000 meters along route # Maximum depth: 98.357220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 9.833009 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.801342; longitude = -121.824456; duration = 200; initialDepth = 3.000000; finalDepth = 9.833009; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.524211 # Actual altitude: 88.524211 # Commanded vehicle depth: 9.833009 # Seafloor depth: -98.357220 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.56; 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 1 # Segment length 100.166426 meters # Minimum depth: 45.108170 meters looking forward 100.000000 meters along route # Maximum depth: 55.024472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.802243; longitude = -121.824523; duration = 200; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 88.524211 # Actual altitude: 88.524211 # Commanded vehicle depth: 3 # Seafloor depth: -55.024472 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 26.56; 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 1 # Segment length 100.166436 meters # Minimum depth: 43.681754 meters looking forward 100.000000 meters along route # Maximum depth: 44.949243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.803145; longitude = -121.824591; duration = 200; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 0 # Commanded altitude: 52.024472 # Actual altitude: 52.024472 # Commanded vehicle depth: 3 # Seafloor depth: -44.949243 # behavior reson { duration = 6; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.61; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # # # Waypoint_depth behavior during line 1 # Segment length 106.818007 meters # Minimum depth: 42.119838 meters looking forward 100.000000 meters along route # Maximum depth: 43.833611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.804046; longitude = -121.824658; duration = 213; initialDepth = 3.000000; finalDepth = 3.000000; speed = 1.500000; } ####################################################### # Reset sonar parameters # Waypoint type: 3 # Commanded altitude: 41.949243 # Actual altitude: 41.949243 # Commanded vehicle depth: 3 # Seafloor depth: -43.671377 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 300.000; LoSS_Range = 200.00; HiSS_Range = 200; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.58; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; } # ####################################################### # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 2; } # Set sonar parameters # Waypoint type: 3 # Commanded altitude: 40.671377 # Sonar parameter altitude: 40.671377 # Commanded vehicle depth: 3 # Seafloor depth: -42.072468 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 200.00; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 200; MB_Power = 220; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 12.20; 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; 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: 42.072468 meters looking forward 100.000000 meters along route # Maximum depth: 43.833611 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 507.188822 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 3.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.805007; longitude = -121.824729; duration = 600; depth = 3.000000; speed = 1.500000; } ####################################################### # Acoustic update 6 - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 270.0; 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 = 270.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 300.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 3; MB_Gain = 25; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000060; MB_Bottom_Detect_Filter_Min_Range = 15.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 0; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### ####################################################### ####################################################### #######################################################