# This MBARI Mapping AUV mission file has been generated # by the MB-System program mbm_route2mission run by # user on cpu at # # Mission Summary: # Route File: 2013_WallTest_11v1.rte # Mission File: 2013_WallTest_11v1.cfg # Distance: 9715.673391 (m) # Estimated Time: 8355 (s) 2.321 (hr) # Abort Time: 10862 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 1194 (s) # Way Points: 27 # Route Points: 188 # Survey Behaviors: # Behavior for waypoint mode 0: WaypointDepth # Behavior for waypoint mode 1: WaypointDepth # Behavior for waypoint mode 2: WaypointWall # Behavior for waypoint mode 3: WaypointWall # Behavior for waypoint mode 4: WaypointWall # Descent style: Waypoint descent # Mapping sonar control disabled: # Benthic imaging camera control disabled: # # Mission Parameters: # Vehicle Survey Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Ascent Speed: 1.500000 (m/s) 2.915769 (knots) # Vehicle Transit Speed: 1.500000 (m/s) 2.915769 (knots) # Minimum Vehicle Altitude 1: 50 (m) # Abort Vehicle Altitude 1: 12 (m) # Delta Depth Restart 1: 38 (m) # Desired Vehicle Altitude 1: 50 (m) # Desired Vehicle Altitude 2: 50 (m) # Desired Vehicle Altitude 3: 50 (m) # Constant Vehicle Depth 1: 907 (m) # Constant Vehicle Depth 2: 50 (m) # Maximum Vehicle Depth: 970.371312 (m) # Abort Vehicle Depth: 995.371312 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.972032 36.798672 -105.416283 0.000000 3 # 1 -121.971315 36.789318 -347.363365 1039.711262 1 # 2 -121.982140 36.774989 -810.389755 2899.875273 1 # 3 -121.983664 36.773565 -861.171448 3108.338513 1 # 4 -121.985957 36.772405 -913.583755 3350.086294 1 # 5 -121.991306 36.774773 -945.868164 3894.984632 1 # 6 -121.993636 36.774809 -951.180847 4102.967752 7 # 7 -121.995683 36.773685 -948.206436 4324.156752 1 # 8 -121.997835 36.773667 -957.140991 4516.228613 1 # 9 -122.001757 36.774280 -973.418732 4872.802490 1 # 10 -122.004872 36.774424 -982.156158 5151.265526 1 # 11 -122.006971 36.775169 -989.349869 5356.016425 1 # 12 -122.009040 36.776208 -979.341034 5573.689296 3 # 13 -122.010109 36.776972 -994.045486 5701.303888 1 # 14 -122.009601 36.777795 -995.458542 5803.243254 1 # 15 -121.990641 36.776190 -907.160492 7504.652305 1 # 16 -121.990215 36.775578 -935.021576 7582.467425 1 # 17 -121.991328 36.774773 -945.998276 7716.042768 1 # 18 -121.994623 36.774827 -953.163925 8010.171538 9 # 19 -121.995683 36.773685 -948.206436 8168.287949 1 # 20 -121.997850 36.773655 -955.653198 8361.716797 1 # 21 -122.001757 36.774280 -973.418732 8717.233896 1 # 22 -122.004872 36.774424 -982.156158 8995.696932 1 # 23 -122.006949 36.775169 -989.163620 9198.653028 1 # 24 -122.009055 36.776196 -970.342651 9418.440894 3 # 25 -122.010116 36.776966 -994.045486 9545.967557 1 # 26 -122.011431 36.778071 -995.808456 9715.673391 4 # # A total of 188 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 8100; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 970.371312; abortDepth = 995.371312; minAltitude = 50.000000; abortAltitude = 12.000000; deltaDepthRestart = 38.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 1194; 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; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 26 # Segment length 68.284529 meters # Minimum depth: 995.371312 meters looking forward 50.000000 meters along route # Maximum depth: 996.380013 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.371312 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778071; longitude = -122.011431; duration = 136; # abortOnTimeout = True; initialDepth = 944.599781; finalDepth = 945.371312; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 26 # Segment length 51.268297 meters # Minimum depth: 994.599781 meters looking forward 50.000000 meters along route # Maximum depth: 995.259527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.599781 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777626; longitude = -122.010902; duration = 102; initialDepth = 944.044377; finalDepth = 944.599781; speed = 1.500000; } # # # # Waypoint_depth behavior during line 26 # Segment length 50.153008 meters # Minimum depth: 994.044377 meters looking forward 50.000000 meters along route # Maximum depth: 994.843405 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.044377 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777293; longitude = -122.010505; duration = 100; initialDepth = 916.242567; finalDepth = 944.044377; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 25 # Segment length 77.200305 meters # Minimum depth: 966.242567 meters looking forward 50.000000 meters along route # Maximum depth: 994.045486 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.242567 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776966; longitude = -122.010116; duration = 154; # abortOnTimeout = True; initialDepth = 915.831275; finalDepth = 916.242567; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 25 # Segment length 50.326358 meters # Minimum depth: 965.831275 meters looking forward 50.000000 meters along route # Maximum depth: 979.999934 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 915.831275 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776500; longitude = -122.009474; duration = 100; initialDepth = 920.342651; finalDepth = 915.831275; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 24 # Segment length 68.041778 meters # Minimum depth: 970.342651 meters looking forward 50.000000 meters along route # Maximum depth: 993.842633 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 920.342651 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.776196; longitude = -122.009055; lastLatitude = 36.775878; lastLongitude = -122.008403; duration = 136; # abortOnTimeout = True; initialDepth = 907.000000; finalDepth = 920.342651; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior during line 24 # Segment length 50.144731 meters # Minimum depth: 990.182818 meters looking forward 50.000000 meters along route # Maximum depth: 995.035635 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775878; longitude = -122.008403; lastLatitude = 36.775644; lastLongitude = -122.007923; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 24 # Segment length 50.955030 meters # Minimum depth: 990.753044 meters looking forward 50.000000 meters along route # Maximum depth: 992.443090 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775644; longitude = -122.007923; lastLatitude = 36.775406; lastLongitude = -122.007434; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 24 # Segment length 50.646327 meters # Minimum depth: 989.102363 meters looking forward 50.000000 meters along route # Maximum depth: 991.129995 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775406; longitude = -122.007434; lastLatitude = 36.775169; lastLongitude = -122.006949; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 23 # Segment length 51.126121 meters # Minimum depth: 987.460149 meters looking forward 50.000000 meters along route # Maximum depth: 989.163620 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775169; longitude = -122.006949; lastLatitude = 36.774981; lastLongitude = -122.006426; duration = 102; # abortOnTimeout = True; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior during line 23 # Segment length 50.368325 meters # Minimum depth: 987.052270 meters looking forward 50.000000 meters along route # Maximum depth: 988.069300 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774981; longitude = -122.006426; lastLatitude = 36.774796; lastLongitude = -122.005910; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 23 # Segment length 50.368431 meters # Minimum depth: 985.129188 meters looking forward 50.000000 meters along route # Maximum depth: 987.163699 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774796; longitude = -122.005910; lastLatitude = 36.774612; lastLongitude = -122.005395; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 23 # Segment length 51.093219 meters # Minimum depth: 982.208728 meters looking forward 50.000000 meters along route # Maximum depth: 985.037664 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774612; longitude = -122.005395; lastLatitude = 36.774424; lastLongitude = -122.004872; duration = 102; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 22 # Segment length 77.470710 meters # Minimum depth: 980.055537 meters looking forward 50.000000 meters along route # Maximum depth: 982.331306 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774424; longitude = -122.004872; lastLatitude = 36.774384; lastLongitude = -122.004005; duration = 154; # abortOnTimeout = True; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior during line 22 # Segment length 50.085717 meters # Minimum depth: 978.720486 meters looking forward 50.000000 meters along route # Maximum depth: 980.165920 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774384; longitude = -122.004005; lastLatitude = 36.774358; lastLongitude = -122.003445; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 22 # Segment length 50.085739 meters # Minimum depth: 976.893397 meters looking forward 50.000000 meters along route # Maximum depth: 978.669444 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774358; longitude = -122.003445; lastLatitude = 36.774332; lastLongitude = -122.002885; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 22 # Segment length 50.085761 meters # Minimum depth: 975.174013 meters looking forward 50.000000 meters along route # Maximum depth: 976.768414 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774332; longitude = -122.002885; lastLatitude = 36.774306; lastLongitude = -122.002325; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 22 # Segment length 50.735109 meters # Minimum depth: 973.397859 meters looking forward 50.000000 meters along route # Maximum depth: 975.300669 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774306; longitude = -122.002325; lastLatitude = 36.774280; lastLongitude = -122.001757; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 21 # Segment length 50.321421 meters # Minimum depth: 972.660880 meters looking forward 50.000000 meters along route # Maximum depth: 973.905918 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774280; longitude = -122.001757; lastLatitude = 36.774192; lastLongitude = -122.001204; duration = 100; # abortOnTimeout = True; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior during line 21 # Segment length 50.982432 meters # Minimum depth: 969.550409 meters looking forward 50.000000 meters along route # Maximum depth: 972.415304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774192; longitude = -122.001204; lastLatitude = 36.774102; lastLongitude = -122.000644; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 21 # Segment length 50.982494 meters # Minimum depth: 967.818505 meters looking forward 50.000000 meters along route # Maximum depth: 969.970162 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774102; longitude = -122.000644; lastLatitude = 36.774012; lastLongitude = -122.000083; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 21 # Segment length 50.982557 meters # Minimum depth: 967.114982 meters looking forward 50.000000 meters along route # Maximum depth: 968.236628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774012; longitude = -122.000083; lastLatitude = 36.773923; lastLongitude = -121.999523; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 21 # Segment length 50.982620 meters # Minimum depth: 964.981618 meters looking forward 50.000000 meters along route # Maximum depth: 967.311960 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773923; longitude = -121.999523; lastLatitude = 36.773833; lastLongitude = -121.998963; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 21 # Segment length 50.982683 meters # Minimum depth: 962.565399 meters looking forward 50.000000 meters along route # Maximum depth: 964.808003 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773833; longitude = -121.998963; lastLatitude = 36.773743; lastLongitude = -121.998403; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 21 # Segment length 50.282892 meters # Minimum depth: 955.633200 meters looking forward 50.000000 meters along route # Maximum depth: 962.582497 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773743; longitude = -121.998403; lastLatitude = 36.773655; lastLongitude = -121.997850; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 20 # Segment length 42.695883 meters # Minimum depth: 954.139320 meters looking forward 50.000000 meters along route # Maximum depth: 956.418781 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773655; longitude = -121.997850; lastLatitude = 36.773662; lastLongitude = -121.997372; duration = 85; # abortOnTimeout = True; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior during line 20 # Segment length 50.011153 meters # Minimum depth: 949.100497 meters looking forward 50.000000 meters along route # Maximum depth: 954.309266 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773662; longitude = -121.997372; lastLatitude = 36.773669; lastLongitude = -121.996811; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 20 # Segment length 50.011153 meters # Minimum depth: 941.604115 meters looking forward 50.000000 meters along route # Maximum depth: 953.186966 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773669; longitude = -121.996811; lastLatitude = 36.773677; lastLongitude = -121.996251; duration = 100; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 20 # Segment length 50.710659 meters # Minimum depth: 941.840535 meters looking forward 50.000000 meters along route # Maximum depth: 947.803043 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773677; longitude = -121.996251; lastLatitude = 36.773685; lastLongitude = -121.995683; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 19 # Segment length 55.662028 meters # Minimum depth: 948.206436 meters looking forward 50.000000 meters along route # Maximum depth: 957.388205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773685; longitude = -121.995683; lastLatitude = 36.774087; lastLongitude = -121.995310; duration = 111; # abortOnTimeout = True; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # ####################################################### # # # Waypoint_wall behavior during line 19 # Segment length 50.834305 meters # Minimum depth: 955.177306 meters looking forward 50.000000 meters along route # Maximum depth: 956.981508 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774087; longitude = -121.995310; lastLatitude = 36.774454; lastLongitude = -121.994969; duration = 101; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # # # Waypoint_wall behavior during line 19 # Segment length 51.620078 meters # Minimum depth: 953.219675 meters looking forward 50.000000 meters along route # Maximum depth: 955.510880 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774454; longitude = -121.994969; lastLatitude = 36.774827; lastLongitude = -121.994623; duration = 103; initialDepth = 907.000000; finalDepth = 907.000000; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = True; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 42.716407 meters # Minimum depth: 951.405046 meters looking forward 50.000000 meters along route # Maximum depth: 953.524534 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Constant vehicle depth: 907.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 907.000000 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774827; longitude = -121.994623; duration = 85; # abortOnTimeout = True; initialDepth = 900.857937; finalDepth = 907.000000; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 50.013409 meters # Minimum depth: 950.857937 meters looking forward 50.000000 meters along route # Maximum depth: 951.407582 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.857937 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774819; longitude = -121.994144; duration = 100; initialDepth = 899.935955; finalDepth = 900.857937; speed = 1.500000; } # # # # Waypoint_depth behavior during line 18 # Segment length 50.013421 meters # Minimum depth: 949.935955 meters looking forward 50.000000 meters along route # Maximum depth: 950.962232 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.935955 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774810; longitude = -121.993584; duration = 100; initialDepth = 898.825578; finalDepth = 899.935955; speed = 1.500000; } # # # # Waypoint_depth behavior during line 18 # Segment length 50.013433 meters # Minimum depth: 948.825578 meters looking forward 50.000000 meters along route # Maximum depth: 949.874899 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.825578 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774801; longitude = -121.993024; duration = 100; initialDepth = 897.570244; finalDepth = 898.825578; speed = 1.500000; } # # # # Waypoint_depth behavior during line 18 # Segment length 50.013444 meters # Minimum depth: 947.570244 meters looking forward 50.000000 meters along route # Maximum depth: 948.823417 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.570244 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774792; longitude = -121.992464; duration = 100; initialDepth = 896.034952; finalDepth = 897.570244; speed = 1.500000; } # # # # Waypoint_depth behavior during line 18 # Segment length 51.358656 meters # Minimum depth: 946.034952 meters looking forward 50.000000 meters along route # Maximum depth: 947.621074 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.034952 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774782; longitude = -121.991903; duration = 102; initialDepth = 895.052175; finalDepth = 896.034952; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 81.679828 meters # Minimum depth: 945.052175 meters looking forward 50.000000 meters along route # Maximum depth: 945.998276 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 895.052175 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774773; longitude = -121.991328; duration = 163; # abortOnTimeout = True; initialDepth = 886.517324; finalDepth = 895.052175; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.895515 meters # Minimum depth: 936.517324 meters looking forward 50.000000 meters along route # Maximum depth: 945.045518 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.517324 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775265; longitude = -121.990647; duration = 103; initialDepth = 857.666498; finalDepth = 886.517324; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 77.815120 meters # Minimum depth: 907.666498 meters looking forward 50.000000 meters along route # Maximum depth: 935.021576 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.666498 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775578; longitude = -121.990215; duration = 155; # abortOnTimeout = True; initialDepth = 857.160492; finalDepth = 857.666498; speed = 1.500000; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 40.879785 meters # Minimum depth: 907.160492 meters looking forward 50.000000 meters along route # Maximum depth: 910.481639 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.160492 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776190; longitude = -121.990641; duration = 81; # abortOnTimeout = True; initialDepth = 858.771545; finalDepth = 857.160492; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 50.278211 meters # Minimum depth: 908.771545 meters looking forward 50.000000 meters along route # Maximum depth: 910.195372 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.771545 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776229; longitude = -121.991097; duration = 100; initialDepth = 860.271241; finalDepth = 858.771545; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.278175 meters # Minimum depth: 910.271241 meters looking forward 50.000000 meters along route # Maximum depth: 911.181891 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.271241 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776276; longitude = -121.991657; duration = 100; initialDepth = 861.337998; finalDepth = 860.271241; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.278138 meters # Minimum depth: 911.337998 meters looking forward 50.000000 meters along route # Maximum depth: 914.259277 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 861.337998 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776323; longitude = -121.992217; duration = 100; initialDepth = 863.664986; finalDepth = 861.337998; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.278103 meters # Minimum depth: 913.664986 meters looking forward 50.000000 meters along route # Maximum depth: 916.719766 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.664986 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776371; longitude = -121.992777; duration = 100; initialDepth = 858.312086; finalDepth = 863.664986; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.278066 meters # Minimum depth: 908.312086 meters looking forward 50.000000 meters along route # Maximum depth: 916.897626 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.312086 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776418; longitude = -121.993338; duration = 100; initialDepth = 856.689043; finalDepth = 858.312086; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.278030 meters # Minimum depth: 906.689043 meters looking forward 50.000000 meters along route # Maximum depth: 914.618065 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 856.689043 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776466; longitude = -121.993898; duration = 100; initialDepth = 860.525085; finalDepth = 856.689043; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277993 meters # Minimum depth: 910.525085 meters looking forward 50.000000 meters along route # Maximum depth: 922.702569 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 860.525085 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776513; longitude = -121.994458; duration = 100; initialDepth = 870.067198; finalDepth = 860.525085; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277958 meters # Minimum depth: 920.067198 meters looking forward 50.000000 meters along route # Maximum depth: 925.893176 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.067198 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776561; longitude = -121.995019; duration = 100; initialDepth = 876.090981; finalDepth = 870.067198; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277921 meters # Minimum depth: 926.090981 meters looking forward 50.000000 meters along route # Maximum depth: 933.349820 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 876.090981 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776608; longitude = -121.995579; duration = 100; initialDepth = 884.300029; finalDepth = 876.090981; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277885 meters # Minimum depth: 934.300029 meters looking forward 50.000000 meters along route # Maximum depth: 938.951422 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 884.300029 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776655; longitude = -121.996139; duration = 100; initialDepth = 889.013469; finalDepth = 884.300029; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277849 meters # Minimum depth: 939.013469 meters looking forward 50.000000 meters along route # Maximum depth: 940.953781 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.013469 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776703; longitude = -121.996699; duration = 100; initialDepth = 890.914612; finalDepth = 889.013469; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277813 meters # Minimum depth: 940.914612 meters looking forward 50.000000 meters along route # Maximum depth: 942.749401 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 890.914612 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776750; longitude = -121.997260; duration = 100; initialDepth = 891.834624; finalDepth = 890.914612; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277776 meters # Minimum depth: 941.834624 meters looking forward 50.000000 meters along route # Maximum depth: 944.806672 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.834624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776798; longitude = -121.997820; duration = 100; initialDepth = 889.890117; finalDepth = 891.834624; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277741 meters # Minimum depth: 939.890117 meters looking forward 50.000000 meters along route # Maximum depth: 943.616835 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.890117 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776845; longitude = -121.998380; duration = 100; initialDepth = 886.753692; finalDepth = 889.890117; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277704 meters # Minimum depth: 936.753692 meters looking forward 50.000000 meters along route # Maximum depth: 939.918039 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 886.753692 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776893; longitude = -121.998940; duration = 100; initialDepth = 878.528080; finalDepth = 886.753692; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277668 meters # Minimum depth: 928.528080 meters looking forward 50.000000 meters along route # Maximum depth: 937.502228 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.528080 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776940; longitude = -121.999501; duration = 100; initialDepth = 872.470013; finalDepth = 878.528080; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277632 meters # Minimum depth: 922.470013 meters looking forward 50.000000 meters along route # Maximum depth: 928.605433 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 872.470013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776987; longitude = -122.000061; duration = 100; initialDepth = 862.492678; finalDepth = 872.470013; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277596 meters # Minimum depth: 912.492678 meters looking forward 50.000000 meters along route # Maximum depth: 922.052586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.492678 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777035; longitude = -122.000621; duration = 100; initialDepth = 857.730629; finalDepth = 862.492678; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277559 meters # Minimum depth: 907.730629 meters looking forward 50.000000 meters along route # Maximum depth: 912.273784 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 857.730629 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777082; longitude = -122.001182; duration = 100; initialDepth = 853.481658; finalDepth = 857.730629; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277524 meters # Minimum depth: 903.481658 meters looking forward 50.000000 meters along route # Maximum depth: 907.668693 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.481658 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777130; longitude = -122.001742; duration = 100; initialDepth = 853.023479; finalDepth = 853.481658; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277487 meters # Minimum depth: 903.023479 meters looking forward 50.000000 meters along route # Maximum depth: 903.737654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.023479 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777177; longitude = -122.002302; duration = 100; initialDepth = 853.799488; finalDepth = 853.023479; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277451 meters # Minimum depth: 903.799488 meters looking forward 50.000000 meters along route # Maximum depth: 908.604028 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 853.799488 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777225; longitude = -122.002862; duration = 100; initialDepth = 858.796327; finalDepth = 853.799488; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277415 meters # Minimum depth: 908.796327 meters looking forward 50.000000 meters along route # Maximum depth: 912.441867 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 858.796327 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777272; longitude = -122.003423; duration = 100; initialDepth = 862.369429; finalDepth = 858.796327; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277379 meters # Minimum depth: 912.369429 meters looking forward 50.000000 meters along route # Maximum depth: 920.000158 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 862.369429 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777319; longitude = -122.003983; duration = 100; initialDepth = 870.261020; finalDepth = 862.369429; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277342 meters # Minimum depth: 920.261020 meters looking forward 50.000000 meters along route # Maximum depth: 928.809831 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 870.261020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777367; longitude = -122.004543; duration = 100; initialDepth = 879.182619; finalDepth = 870.261020; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277307 meters # Minimum depth: 929.182619 meters looking forward 50.000000 meters along route # Maximum depth: 938.457264 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 879.182619 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777414; longitude = -122.005104; duration = 100; initialDepth = 888.790393; finalDepth = 879.182619; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277270 meters # Minimum depth: 938.790393 meters looking forward 50.000000 meters along route # Maximum depth: 949.335595 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 888.790393 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777462; longitude = -122.005664; duration = 100; initialDepth = 899.932918; finalDepth = 888.790393; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277235 meters # Minimum depth: 949.932918 meters looking forward 50.000000 meters along route # Maximum depth: 963.631795 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.932918 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777509; longitude = -122.006224; duration = 100; initialDepth = 914.036514; finalDepth = 899.932918; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277198 meters # Minimum depth: 964.036514 meters looking forward 50.000000 meters along route # Maximum depth: 973.569071 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.036514 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777557; longitude = -122.006784; duration = 100; initialDepth = 923.856815; finalDepth = 914.036514; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277162 meters # Minimum depth: 973.856815 meters looking forward 50.000000 meters along route # Maximum depth: 981.023775 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.856815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777604; longitude = -122.007345; duration = 100; initialDepth = 931.369992; finalDepth = 923.856815; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277126 meters # Minimum depth: 981.369992 meters looking forward 50.000000 meters along route # Maximum depth: 990.419321 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 931.369992 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777651; longitude = -122.007905; duration = 100; initialDepth = 940.476293; finalDepth = 931.369992; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 50.277089 meters # Minimum depth: 990.476293 meters looking forward 50.000000 meters along route # Maximum depth: 995.225165 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.476293 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777699; longitude = -122.008465; duration = 100; initialDepth = 944.999928; finalDepth = 940.476293; speed = 1.500000; } # # # # Waypoint_depth behavior during line 15 # Segment length 51.644463 meters # Minimum depth: 994.999928 meters looking forward 50.000000 meters along route # Maximum depth: 995.409299 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 944.999928 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777746; longitude = -122.009025; duration = 103; initialDepth = 945.152266; finalDepth = 944.999928; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 50.908626 meters # Minimum depth: 995.152266 meters looking forward 50.000000 meters along route # Maximum depth: 995.685431 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 945.152266 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777795; longitude = -122.009601; duration = 101; # abortOnTimeout = True; initialDepth = 943.913787; finalDepth = 945.152266; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.030740 meters # Minimum depth: 993.913787 meters looking forward 50.000000 meters along route # Maximum depth: 995.159639 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 943.913787 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777384; longitude = -122.009855; duration = 102; initialDepth = 916.691650; finalDepth = 943.913787; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 77.354099 meters # Minimum depth: 966.691650 meters looking forward 50.000000 meters along route # Maximum depth: 994.378640 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.691650 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776972; longitude = -122.010109; duration = 154; # abortOnTimeout = True; initialDepth = 916.475962; finalDepth = 916.691650; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 50.260493 meters # Minimum depth: 966.475962 meters looking forward 50.000000 meters along route # Maximum depth: 982.999962 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 916.475962 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776509; longitude = -122.009461; duration = 100; initialDepth = 929.341034; finalDepth = 916.475962; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_wall behavior to get to end of line 12 # Segment length 65.346708 meters # Minimum depth: 979.341034 meters looking forward 50.000000 meters along route # Maximum depth: 993.985778 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 929.341034 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.776208; longitude = -122.009040; lastLatitude = 36.775896; lastLongitude = -122.008419; duration = 130; # abortOnTimeout = True; initialDepth = 940.068744; finalDepth = 929.341034; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior during line 12 # Segment length 51.712917 meters # Minimum depth: 990.068744 meters looking forward 50.000000 meters along route # Maximum depth: 994.942971 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.068744 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775896; longitude = -122.008419; lastLatitude = 36.775649; lastLongitude = -122.007927; duration = 103; initialDepth = 940.597286; finalDepth = 940.068744; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 12 # Segment length 50.240479 meters # Minimum depth: 990.597286 meters looking forward 50.000000 meters along route # Maximum depth: 992.445077 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 940.597286 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775649; longitude = -122.007927; lastLatitude = 36.775409; lastLongitude = -122.007450; duration = 100; initialDepth = 939.128023; finalDepth = 940.597286; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 12 # Segment length 50.372767 meters # Minimum depth: 989.128023 meters looking forward 50.000000 meters along route # Maximum depth: 991.273302 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 939.128023 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775409; longitude = -122.007450; lastLatitude = 36.775169; lastLongitude = -122.006971; duration = 100; initialDepth = 937.461290; finalDepth = 939.128023; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 11 # Segment length 53.183670 meters # Minimum depth: 987.461290 meters looking forward 50.000000 meters along route # Maximum depth: 989.349869 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.461290 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.775169; longitude = -122.006971; lastLatitude = 36.774975; lastLongitude = -122.006426; duration = 106; # abortOnTimeout = True; initialDepth = 937.068152; finalDepth = 937.461290; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior during line 11 # Segment length 50.281162 meters # Minimum depth: 987.068152 meters looking forward 50.000000 meters along route # Maximum depth: 988.073846 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 937.068152 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774975; longitude = -122.006426; lastLatitude = 36.774793; lastLongitude = -122.005910; duration = 100; initialDepth = 935.229371; finalDepth = 937.068152; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 11 # Segment length 50.281266 meters # Minimum depth: 985.229371 meters looking forward 50.000000 meters along route # Maximum depth: 987.155085 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 935.229371 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774793; longitude = -122.005910; lastLatitude = 36.774610; lastLongitude = -122.005395; duration = 100; initialDepth = 932.208845; finalDepth = 935.229371; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 11 # Segment length 51.004801 meters # Minimum depth: 982.208845 meters looking forward 50.000000 meters along route # Maximum depth: 985.097114 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 932.208845 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774610; longitude = -122.005395; lastLatitude = 36.774424; lastLongitude = -122.004872; duration = 102; initialDepth = 930.055537; finalDepth = 932.208845; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 10 # Segment length 77.470710 meters # Minimum depth: 980.055537 meters looking forward 50.000000 meters along route # Maximum depth: 982.331306 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 930.055537 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774424; longitude = -122.004872; lastLatitude = 36.774384; lastLongitude = -122.004005; duration = 154; # abortOnTimeout = True; initialDepth = 928.720486; finalDepth = 930.055537; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior during line 10 # Segment length 50.085717 meters # Minimum depth: 978.720486 meters looking forward 50.000000 meters along route # Maximum depth: 980.165920 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 928.720486 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774384; longitude = -122.004005; lastLatitude = 36.774358; lastLongitude = -122.003445; duration = 100; initialDepth = 926.893397; finalDepth = 928.720486; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 10 # Segment length 50.085739 meters # Minimum depth: 976.893397 meters looking forward 50.000000 meters along route # Maximum depth: 978.669444 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 926.893397 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774358; longitude = -122.003445; lastLatitude = 36.774332; lastLongitude = -122.002885; duration = 100; initialDepth = 925.174013; finalDepth = 926.893397; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 10 # Segment length 50.085761 meters # Minimum depth: 975.174013 meters looking forward 50.000000 meters along route # Maximum depth: 976.768414 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 925.174013 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774332; longitude = -122.002885; lastLatitude = 36.774306; lastLongitude = -122.002325; duration = 100; initialDepth = 923.397859; finalDepth = 925.174013; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 10 # Segment length 50.735109 meters # Minimum depth: 973.397859 meters looking forward 50.000000 meters along route # Maximum depth: 975.300669 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 923.397859 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774306; longitude = -122.002325; lastLatitude = 36.774280; lastLongitude = -122.001757; duration = 101; initialDepth = 922.654705; finalDepth = 923.397859; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 9 # Segment length 50.277974 meters # Minimum depth: 972.654705 meters looking forward 50.000000 meters along route # Maximum depth: 973.904840 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 922.654705 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774280; longitude = -122.001757; lastLatitude = 36.774194; lastLongitude = -122.001204; duration = 100; # abortOnTimeout = True; initialDepth = 919.501094; finalDepth = 922.654705; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior during line 9 # Segment length 50.938414 meters # Minimum depth: 969.501094 meters looking forward 50.000000 meters along route # Maximum depth: 972.402742 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 919.501094 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774194; longitude = -122.001204; lastLatitude = 36.774106; lastLongitude = -122.000644; duration = 101; initialDepth = 917.775348; finalDepth = 919.501094; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 9 # Segment length 50.938474 meters # Minimum depth: 967.775348 meters looking forward 50.000000 meters along route # Maximum depth: 969.989751 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.775348 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774106; longitude = -122.000644; lastLatitude = 36.774018; lastLongitude = -122.000083; duration = 101; initialDepth = 917.165687; finalDepth = 917.775348; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 9 # Segment length 50.938536 meters # Minimum depth: 967.165687 meters looking forward 50.000000 meters along route # Maximum depth: 968.190861 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 917.165687 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774018; longitude = -122.000083; lastLatitude = 36.773931; lastLongitude = -121.999523; duration = 101; initialDepth = 914.985279; finalDepth = 917.165687; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 9 # Segment length 50.938598 meters # Minimum depth: 964.985279 meters looking forward 50.000000 meters along route # Maximum depth: 967.340716 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 914.985279 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773931; longitude = -121.999523; lastLatitude = 36.773843; lastLongitude = -121.998963; duration = 101; initialDepth = 912.487315; finalDepth = 914.985279; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 9 # Segment length 50.938659 meters # Minimum depth: 962.487315 meters looking forward 50.000000 meters along route # Maximum depth: 964.831641 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 912.487315 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773843; longitude = -121.998963; lastLatitude = 36.773756; lastLongitude = -121.998403; duration = 101; initialDepth = 906.648642; finalDepth = 912.487315; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 9 # Segment length 51.603222 meters # Minimum depth: 956.648642 meters looking forward 50.000000 meters along route # Maximum depth: 962.511103 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 906.648642 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773756; longitude = -121.998403; lastLatitude = 36.773667; lastLongitude = -121.997835; duration = 103; initialDepth = 904.733624; finalDepth = 906.648642; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 8 # Segment length 41.353073 meters # Minimum depth: 954.733624 meters looking forward 50.000000 meters along route # Maximum depth: 957.140991 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.733624 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773667; longitude = -121.997835; lastLatitude = 36.773671; lastLongitude = -121.997372; duration = 82; # abortOnTimeout = True; initialDepth = 899.422601; finalDepth = 904.733624; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior during line 8 # Segment length 50.006447 meters # Minimum depth: 949.422601 meters looking forward 50.000000 meters along route # Maximum depth: 955.083281 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.422601 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773671; longitude = -121.997372; lastLatitude = 36.773676; lastLongitude = -121.996811; duration = 100; initialDepth = 891.962203; finalDepth = 899.422601; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 8 # Segment length 50.006449 meters # Minimum depth: 941.962203 meters looking forward 50.000000 meters along route # Maximum depth: 953.559273 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.962203 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773676; longitude = -121.996811; lastLatitude = 36.773680; lastLongitude = -121.996251; duration = 100; initialDepth = 892.237885; finalDepth = 891.962203; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 8 # Segment length 50.705892 meters # Minimum depth: 942.237885 meters looking forward 50.000000 meters along route # Maximum depth: 947.805773 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 892.237885 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773680; longitude = -121.996251; lastLatitude = 36.773685; lastLongitude = -121.995683; duration = 101; initialDepth = 898.206436; finalDepth = 892.237885; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior to get to end of line 7 # Segment length 69.785364 meters # Minimum depth: 948.206436 meters looking forward 50.000000 meters along route # Maximum depth: 956.383834 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.206436 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.773685; longitude = -121.995683; lastLatitude = 36.774040; lastLongitude = -121.995037; duration = 139; # abortOnTimeout = True; initialDepth = 904.071119; finalDepth = 898.206436; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # ####################################################### # # # Waypoint_wall behavior during line 7 # Segment length 50.450283 meters # Minimum depth: 954.071119 meters looking forward 50.000000 meters along route # Maximum depth: 955.735178 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 904.071119 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774040; longitude = -121.995037; lastLatitude = 36.774296; lastLongitude = -121.994570; duration = 100; initialDepth = 902.718827; finalDepth = 904.071119; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 7 # Segment length 50.854437 meters # Minimum depth: 952.718827 meters looking forward 50.000000 meters along route # Maximum depth: 954.374300 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 902.718827 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774296; longitude = -121.994570; lastLatitude = 36.774554; lastLongitude = -121.994100; duration = 101; initialDepth = 900.910795; finalDepth = 902.718827; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # # # Waypoint_wall behavior during line 7 # Segment length 50.098916 meters # Minimum depth: 950.910795 meters looking forward 50.000000 meters along route # Maximum depth: 953.534058 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 900.910795 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_wall { latitude = 36.774554; longitude = -121.994100; lastLatitude = 36.774809; lastLongitude = -121.993636; duration = 100; initialDepth = 899.713282; finalDepth = 900.910795; speed = 1.500000; maxCrossTrackError = 10; starboardMaxCrossTrackError = 40; standOff = 80; sonarTimeOut = 2; windowLen = 1; useWallEstimator = True; wallFeedForward = False; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 56.637778 meters # Minimum depth: 949.713282 meters looking forward 50.000000 meters along route # Maximum depth: 951.180847 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 899.713282 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774809; longitude = -121.993636; duration = 113; # abortOnTimeout = True; initialDepth = 898.822270; finalDepth = 899.713282; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 50.012281 meters # Minimum depth: 948.822270 meters looking forward 50.000000 meters along route # Maximum depth: 949.896400 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 898.822270 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774799; longitude = -121.993001; duration = 100; initialDepth = 897.570163; finalDepth = 898.822270; speed = 1.500000; } # # # # Waypoint_depth behavior during line 6 # Segment length 50.012291 meters # Minimum depth: 947.570163 meters looking forward 50.000000 meters along route # Maximum depth: 948.818618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 897.570163 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774791; longitude = -121.992441; duration = 100; initialDepth = 896.021338; finalDepth = 897.570163; speed = 1.500000; } # # # # Waypoint_depth behavior during line 6 # Segment length 51.320770 meters # Minimum depth: 946.021338 meters looking forward 50.000000 meters along route # Maximum depth: 947.612444 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 896.021338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774782; longitude = -121.991881; duration = 102; initialDepth = 891.890572; finalDepth = 896.021338; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 41.883421 meters # Minimum depth: 941.890572 meters looking forward 50.000000 meters along route # Maximum depth: 946.332853 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 891.890572 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774773; longitude = -121.991306; duration = 83; # abortOnTimeout = True; initialDepth = 889.016050; finalDepth = 891.890572; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 50.225708 meters # Minimum depth: 939.016050 meters looking forward 50.000000 meters along route # Maximum depth: 941.655451 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 889.016050 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774591; longitude = -121.990895; duration = 100; initialDepth = 883.636338; finalDepth = 889.016050; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.225821 meters # Minimum depth: 933.636338 meters looking forward 50.000000 meters along route # Maximum depth: 938.590674 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.636338 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774373; longitude = -121.990402; duration = 100; initialDepth = 883.362999; finalDepth = 883.636338; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.225935 meters # Minimum depth: 933.362999 meters looking forward 50.000000 meters along route # Maximum depth: 933.837687 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 883.362999 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774154; longitude = -121.989909; duration = 100; initialDepth = 882.542284; finalDepth = 883.362999; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.226049 meters # Minimum depth: 932.542284 meters looking forward 50.000000 meters along route # Maximum depth: 933.770587 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.542284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773936; longitude = -121.989416; duration = 100; initialDepth = 882.185445; finalDepth = 882.542284; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.392313 meters # Minimum depth: 932.185445 meters looking forward 50.000000 meters along route # Maximum depth: 937.174904 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 882.185445 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773718; longitude = -121.988923; duration = 100; initialDepth = 881.194771; finalDepth = 882.185445; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.060127 meters # Minimum depth: 931.194771 meters looking forward 50.000000 meters along route # Maximum depth: 937.378551 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 881.194771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773499; longitude = -121.988428; duration = 100; initialDepth = 878.376501; finalDepth = 881.194771; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.226390 meters # Minimum depth: 928.376501 meters looking forward 50.000000 meters along route # Maximum depth: 933.784860 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 878.376501 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773281; longitude = -121.987937; duration = 100; initialDepth = 869.939914; finalDepth = 878.376501; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.226505 meters # Minimum depth: 919.939914 meters looking forward 50.000000 meters along route # Maximum depth: 928.316508 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 869.939914 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773063; longitude = -121.987444; duration = 100; initialDepth = 867.080160; finalDepth = 869.939914; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.226618 meters # Minimum depth: 917.080160 meters looking forward 50.000000 meters along route # Maximum depth: 919.694680 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 867.080160 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772845; longitude = -121.986950; duration = 100; initialDepth = 863.818760; finalDepth = 867.080160; speed = 1.500000; } # # # # Waypoint_depth behavior during line 5 # Segment length 50.979451 meters # Minimum depth: 913.818760 meters looking forward 50.000000 meters along route # Maximum depth: 916.969422 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 863.818760 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772627; longitude = -121.986457; duration = 101; initialDepth = 850.537277; finalDepth = 863.818760; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 86.644071 meters # Minimum depth: 900.537277 meters looking forward 50.000000 meters along route # Maximum depth: 913.583755 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 850.537277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772405; longitude = -121.985957; duration = 173; # abortOnTimeout = True; initialDepth = 840.357635; finalDepth = 850.537277; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.981140 meters # Minimum depth: 890.357635 meters looking forward 50.000000 meters along route # Maximum depth: 900.298645 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 840.357635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.772821; longitude = -121.985135; duration = 103; initialDepth = 828.031890; finalDepth = 840.357635; speed = 1.500000; } # # # # Waypoint_depth behavior during line 4 # Segment length 51.981025 meters # Minimum depth: 878.031890 meters looking forward 50.000000 meters along route # Maximum depth: 890.275539 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 828.031890 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773070; longitude = -121.984642; duration = 103; initialDepth = 811.329126; finalDepth = 828.031890; speed = 1.500000; } # # # # Waypoint_depth behavior during line 4 # Segment length 51.141545 meters # Minimum depth: 861.329126 meters looking forward 50.000000 meters along route # Maximum depth: 877.986731 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 811.329126 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773320; longitude = -121.984149; duration = 102; initialDepth = 802.628652; finalDepth = 811.329126; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 56.288519 meters # Minimum depth: 852.628652 meters looking forward 50.000000 meters along route # Maximum depth: 861.171448 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 802.628652 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773565; longitude = -121.983664; duration = 112; # abortOnTimeout = True; initialDepth = 793.279693; finalDepth = 802.628652; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 50.132860 meters # Minimum depth: 843.279693 meters looking forward 50.000000 meters along route # Maximum depth: 852.627215 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 793.279693 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.773950; longitude = -121.983252; duration = 100; initialDepth = 779.205635; finalDepth = 793.279693; speed = 1.500000; } # # # # Waypoint_depth behavior during line 3 # Segment length 51.011071 meters # Minimum depth: 829.205635 meters looking forward 50.000000 meters along route # Maximum depth: 842.869056 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 779.205635 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774292; longitude = -121.982886; duration = 102; initialDepth = 761.128782; finalDepth = 779.205635; speed = 1.500000; } # # # # Waypoint_depth behavior during line 3 # Segment length 51.030790 meters # Minimum depth: 811.128782 meters looking forward 50.000000 meters along route # Maximum depth: 828.898689 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 761.128782 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774640; longitude = -121.982513; duration = 102; initialDepth = 742.457190; finalDepth = 761.128782; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 55.278168 meters # Minimum depth: 792.457190 meters looking forward 50.000000 meters along route # Maximum depth: 810.389755 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 742.457190 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.774989; longitude = -121.982140; duration = 110; # abortOnTimeout = True; initialDepth = 737.853272; finalDepth = 742.457190; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 50.065712 meters # Minimum depth: 787.853272 meters looking forward 50.000000 meters along route # Maximum depth: 792.311319 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 737.853272 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775415; longitude = -121.981818; duration = 100; initialDepth = 719.729247; finalDepth = 737.853272; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065650 meters # Minimum depth: 769.729247 meters looking forward 50.000000 meters along route # Maximum depth: 787.491224 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 719.729247 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.775800; longitude = -121.981527; duration = 100; initialDepth = 705.656794; finalDepth = 719.729247; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065587 meters # Minimum depth: 755.656794 meters looking forward 50.000000 meters along route # Maximum depth: 769.670548 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 705.656794 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776186; longitude = -121.981236; duration = 100; initialDepth = 688.853807; finalDepth = 705.656794; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065525 meters # Minimum depth: 738.853807 meters looking forward 50.000000 meters along route # Maximum depth: 755.320151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 688.853807 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776572; longitude = -121.980944; duration = 100; initialDepth = 673.827746; finalDepth = 688.853807; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065462 meters # Minimum depth: 723.827746 meters looking forward 50.000000 meters along route # Maximum depth: 738.308529 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 673.827746 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.776957; longitude = -121.980653; duration = 100; initialDepth = 661.018565; finalDepth = 673.827746; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065400 meters # Minimum depth: 711.018565 meters looking forward 50.000000 meters along route # Maximum depth: 723.647439 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 661.018565 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777343; longitude = -121.980362; duration = 100; initialDepth = 647.051922; finalDepth = 661.018565; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065337 meters # Minimum depth: 697.051922 meters looking forward 50.000000 meters along route # Maximum depth: 710.473868 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 647.051922 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.777729; longitude = -121.980070; duration = 100; initialDepth = 637.205949; finalDepth = 647.051922; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065275 meters # Minimum depth: 687.205949 meters looking forward 50.000000 meters along route # Maximum depth: 697.017890 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 637.205949 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778114; longitude = -121.979779; duration = 100; initialDepth = 620.648382; finalDepth = 637.205949; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065213 meters # Minimum depth: 670.648382 meters looking forward 50.000000 meters along route # Maximum depth: 686.810629 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 620.648382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778500; longitude = -121.979488; duration = 100; initialDepth = 605.179106; finalDepth = 620.648382; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065150 meters # Minimum depth: 655.179106 meters looking forward 50.000000 meters along route # Maximum depth: 670.159491 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 605.179106 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.778886; longitude = -121.979196; duration = 100; initialDepth = 592.586443; finalDepth = 605.179106; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065088 meters # Minimum depth: 642.586443 meters looking forward 50.000000 meters along route # Maximum depth: 655.005906 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 592.586443 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779271; longitude = -121.978905; duration = 100; initialDepth = 579.817808; finalDepth = 592.586443; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.065026 meters # Minimum depth: 629.817808 meters looking forward 50.000000 meters along route # Maximum depth: 642.213835 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 579.817808 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.779657; longitude = -121.978614; duration = 100; initialDepth = 570.510730; finalDepth = 579.817808; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064963 meters # Minimum depth: 620.510730 meters looking forward 50.000000 meters along route # Maximum depth: 629.787762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 570.510730 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780043; longitude = -121.978322; duration = 100; initialDepth = 561.521771; finalDepth = 570.510730; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064901 meters # Minimum depth: 611.521771 meters looking forward 50.000000 meters along route # Maximum depth: 620.328310 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 561.521771 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780428; longitude = -121.978031; duration = 100; initialDepth = 551.804603; finalDepth = 561.521771; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064838 meters # Minimum depth: 601.804603 meters looking forward 50.000000 meters along route # Maximum depth: 611.322419 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 551.804603 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.780814; longitude = -121.977739; duration = 100; initialDepth = 541.773697; finalDepth = 551.804603; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064776 meters # Minimum depth: 591.773697 meters looking forward 50.000000 meters along route # Maximum depth: 601.719611 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 541.773697 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781200; longitude = -121.977448; duration = 100; initialDepth = 529.891171; finalDepth = 541.773697; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064713 meters # Minimum depth: 579.891171 meters looking forward 50.000000 meters along route # Maximum depth: 591.350708 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.891171 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781585; longitude = -121.977157; duration = 100; initialDepth = 518.478670; finalDepth = 529.891171; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064651 meters # Minimum depth: 568.478670 meters looking forward 50.000000 meters along route # Maximum depth: 579.869575 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.478670 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.781971; longitude = -121.976865; duration = 100; initialDepth = 507.020355; finalDepth = 518.478670; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064589 meters # Minimum depth: 557.020355 meters looking forward 50.000000 meters along route # Maximum depth: 568.291536 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 507.020355 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782357; longitude = -121.976574; duration = 100; initialDepth = 496.553676; finalDepth = 507.020355; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064527 meters # Minimum depth: 546.553676 meters looking forward 50.000000 meters along route # Maximum depth: 556.657057 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.553676 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.782742; longitude = -121.976283; duration = 100; initialDepth = 483.110020; finalDepth = 496.553676; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064463 meters # Minimum depth: 533.110020 meters looking forward 50.000000 meters along route # Maximum depth: 546.409461 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.110020 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783128; longitude = -121.975991; duration = 100; initialDepth = 467.819120; finalDepth = 483.110020; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064402 meters # Minimum depth: 517.819120 meters looking forward 50.000000 meters along route # Maximum depth: 532.678046 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.819120 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783513; longitude = -121.975700; duration = 100; initialDepth = 456.526441; finalDepth = 467.819120; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064339 meters # Minimum depth: 506.526441 meters looking forward 50.000000 meters along route # Maximum depth: 517.804422 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.526441 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.783899; longitude = -121.975409; duration = 100; initialDepth = 443.822382; finalDepth = 456.526441; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064277 meters # Minimum depth: 493.822382 meters looking forward 50.000000 meters along route # Maximum depth: 506.281699 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 443.822382 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784285; longitude = -121.975117; duration = 100; initialDepth = 428.276711; finalDepth = 443.822382; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064214 meters # Minimum depth: 478.276711 meters looking forward 50.000000 meters along route # Maximum depth: 493.325829 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.276711 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.784670; longitude = -121.974826; duration = 100; initialDepth = 417.560466; finalDepth = 428.276711; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064152 meters # Minimum depth: 467.560466 meters looking forward 50.000000 meters along route # Maximum depth: 478.130197 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.560466 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785056; longitude = -121.974535; duration = 100; initialDepth = 405.225714; finalDepth = 417.560466; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064090 meters # Minimum depth: 455.225714 meters looking forward 50.000000 meters along route # Maximum depth: 467.268393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.225714 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785442; longitude = -121.974243; duration = 100; initialDepth = 392.382906; finalDepth = 405.225714; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.064027 meters # Minimum depth: 442.382906 meters looking forward 50.000000 meters along route # Maximum depth: 455.220753 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.382906 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.785827; longitude = -121.973952; duration = 100; initialDepth = 382.541277; finalDepth = 392.382906; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.063965 meters # Minimum depth: 432.541277 meters looking forward 50.000000 meters along route # Maximum depth: 442.203700 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.541277 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786213; longitude = -121.973661; duration = 100; initialDepth = 372.123570; finalDepth = 382.541277; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.063902 meters # Minimum depth: 422.123570 meters looking forward 50.000000 meters along route # Maximum depth: 432.130640 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.123570 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786599; longitude = -121.973369; duration = 100; initialDepth = 361.257815; finalDepth = 372.123570; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.063840 meters # Minimum depth: 411.257815 meters looking forward 50.000000 meters along route # Maximum depth: 422.005517 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 361.257815 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.786984; longitude = -121.973078; duration = 100; initialDepth = 350.436686; finalDepth = 361.257815; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.082431 meters # Minimum depth: 400.436686 meters looking forward 50.000000 meters along route # Maximum depth: 410.945905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.436686 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787370; longitude = -121.972787; duration = 100; initialDepth = 336.652047; finalDepth = 350.436686; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.045062 meters # Minimum depth: 386.652047 meters looking forward 50.000000 meters along route # Maximum depth: 400.432684 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.652047 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.787756; longitude = -121.972495; duration = 100; initialDepth = 324.454685; finalDepth = 336.652047; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.565698 meters # Minimum depth: 374.454685 meters looking forward 50.000000 meters along route # Maximum depth: 386.558709 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 324.454685 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788141; longitude = -121.972204; duration = 101; initialDepth = 311.013326; finalDepth = 324.454685; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 51.475176 meters # Minimum depth: 361.013326 meters looking forward 50.000000 meters along route # Maximum depth: 374.312950 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.013326 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788531; longitude = -121.971910; duration = 102; initialDepth = 297.618817; finalDepth = 311.013326; speed = 1.500000; } # # # # Waypoint_depth behavior during line 2 # Segment length 50.709422 meters # Minimum depth: 347.618817 meters looking forward 50.000000 meters along route # Maximum depth: 360.570321 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.618817 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.788927; longitude = -121.971610; duration = 101; initialDepth = 275.293800; finalDepth = 297.618817; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 86.801119 meters # Minimum depth: 325.293800 meters looking forward 50.000000 meters along route # Maximum depth: 347.363365 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 275.293800 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.789318; longitude = -121.971315; duration = 173; # abortOnTimeout = True; initialDepth = 263.969037; finalDepth = 275.293800; speed = 1.500000; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 50.084606 meters # Minimum depth: 313.969037 meters looking forward 50.000000 meters along route # Maximum depth: 325.237784 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.969037 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790099; longitude = -121.971375; duration = 100; initialDepth = 251.124657; finalDepth = 263.969037; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084608 meters # Minimum depth: 301.124657 meters looking forward 50.000000 meters along route # Maximum depth: 313.485466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 251.124657 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.790550; longitude = -121.971409; duration = 100; initialDepth = 239.405284; finalDepth = 251.124657; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084610 meters # Minimum depth: 289.405284 meters looking forward 50.000000 meters along route # Maximum depth: 300.805431 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.405284 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791000; longitude = -121.971444; duration = 100; initialDepth = 227.739889; finalDepth = 239.405284; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084612 meters # Minimum depth: 277.739889 meters looking forward 50.000000 meters along route # Maximum depth: 288.857060 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 227.739889 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791451; longitude = -121.971478; duration = 100; initialDepth = 214.760886; finalDepth = 227.739889; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084615 meters # Minimum depth: 264.760886 meters looking forward 50.000000 meters along route # Maximum depth: 277.265443 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.760886 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.791901; longitude = -121.971513; duration = 100; initialDepth = 200.528945; finalDepth = 214.760886; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084616 meters # Minimum depth: 250.528945 meters looking forward 50.000000 meters along route # Maximum depth: 264.243396 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.528945 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792352; longitude = -121.971548; duration = 100; initialDepth = 187.185524; finalDepth = 200.528945; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084620 meters # Minimum depth: 237.185524 meters looking forward 50.000000 meters along route # Maximum depth: 250.527133 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.185524 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.792803; longitude = -121.971582; duration = 100; initialDepth = 174.141957; finalDepth = 187.185524; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084621 meters # Minimum depth: 224.141957 meters looking forward 50.000000 meters along route # Maximum depth: 236.601114 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.141957 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793253; longitude = -121.971617; duration = 100; initialDepth = 160.856460; finalDepth = 174.141957; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084624 meters # Minimum depth: 210.856460 meters looking forward 50.000000 meters along route # Maximum depth: 223.535586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.856460 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.793704; longitude = -121.971651; duration = 100; initialDepth = 149.081834; finalDepth = 160.856460; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084626 meters # Minimum depth: 199.081834 meters looking forward 50.000000 meters along route # Maximum depth: 210.299807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.081834 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794154; longitude = -121.971686; duration = 100; initialDepth = 138.283264; finalDepth = 149.081834; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084628 meters # Minimum depth: 188.283264 meters looking forward 50.000000 meters along route # Maximum depth: 198.613574 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.283264 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.794605; longitude = -121.971720; duration = 100; initialDepth = 127.567123; finalDepth = 138.283264; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084630 meters # Minimum depth: 177.567123 meters looking forward 50.000000 meters along route # Maximum depth: 187.956608 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.567123 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795056; longitude = -121.971755; duration = 100; initialDepth = 115.248858; finalDepth = 127.567123; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084633 meters # Minimum depth: 165.248858 meters looking forward 50.000000 meters along route # Maximum depth: 177.011693 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.248858 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795506; longitude = -121.971789; duration = 100; initialDepth = 99.831929; finalDepth = 115.248858; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084635 meters # Minimum depth: 149.831929 meters looking forward 50.000000 meters along route # Maximum depth: 164.944368 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.831929 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.795957; longitude = -121.971824; duration = 100; initialDepth = 85.876497; finalDepth = 99.831929; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084637 meters # Minimum depth: 135.876497 meters looking forward 50.000000 meters along route # Maximum depth: 148.850370 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.876497 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796407; longitude = -121.971858; duration = 100; initialDepth = 72.339178; finalDepth = 85.876497; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084640 meters # Minimum depth: 122.339178 meters looking forward 50.000000 meters along route # Maximum depth: 135.353239 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.339178 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.796858; longitude = -121.971893; duration = 100; initialDepth = 63.219400; finalDepth = 72.339178; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084642 meters # Minimum depth: 113.219400 meters looking forward 50.000000 meters along route # Maximum depth: 122.189183 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.219400 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797308; longitude = -121.971927; duration = 100; initialDepth = 58.343407; finalDepth = 63.219400; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 50.084644 meters # Minimum depth: 108.343407 meters looking forward 50.000000 meters along route # Maximum depth: 112.480585 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.343407 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.797759; longitude = -121.971962; duration = 100; initialDepth = 55.281201; finalDepth = 58.343407; speed = 1.500000; } # # # # Waypoint_depth behavior during line 1 # Segment length 51.386896 meters # Minimum depth: 105.281201 meters looking forward 50.000000 meters along route # Maximum depth: 107.989265 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.281201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint_depth { latitude = 36.798210; longitude = -121.971997; duration = 102; initialDepth = 55.281201; finalDepth = 55.281201; speed = 1.500000; } # # Acoustic update 7 - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint behavior to get to start of line 1 # Segment length 0.000000 meters # Minimum depth: 105.281201 meters looking forward 50.000000 meters along route # Maximum depth: 107.776136 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 970.371312 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.281201 meters set by local depth and desired altitude # Vehicle survey speed: 1.500000 m/s behavior waypoint { latitude = 36.798672; longitude = -121.972032; duration = 600; depth = 55.281201; 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 = 175.856373; pitch = -35.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 175.856373; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### #######################################################