# 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: DavidsonSurvey01_50m.rte # Mission File: DavidsonSurvey01_50m.cfg # Distance: 35567.019868 (m) # Estimated Time: 29978 (s) 8.327 (hr) # Abort Time: 21678 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 5321 (s) # Way Points: 19 # Route Points: 304 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 45 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 2250 (m) # Abort Vehicle Depth: 2300 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.36 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.699794 35.736097 -1728.802795 0.000000 3 # 1 -122.725258 35.707986 -1624.288116 3876.212392 4 # 2 -122.726770 35.708896 -1546.746002 4046.212392 3 # 3 -122.701306 35.737008 -1660.814331 7922.424784 4 # 4 -122.703006 35.737947 -1565.878906 8108.036356 3 # 5 -122.728282 35.709807 -1519.412506 11976.678586 4 # 6 -122.729794 35.710717 -1554.582184 12146.678586 3 # 7 -122.704330 35.738830 -1520.640106 16022.890978 4 # 8 -122.705843 35.739740 -1519.317383 16192.890978 3 # 9 -122.731305 35.711628 -1594.297516 20069.103369 4 # 10 -122.732817 35.712538 -1701.074860 20239.103369 3 # 11 -122.707355 35.740651 -1598.082245 24115.315761 4 # 12 -122.708867 35.741562 -1678.935455 24285.315761 3 # 13 -122.734329 35.713449 -1751.982391 28161.528153 4 # 14 -122.734209 35.716016 -1745.867513 28446.480089 3 # 15 -122.715192 35.716405 -1768.417725 30167.106595 4 # 16 -122.706704 35.725775 -1687.594452 31459.177384 3 # 17 -122.723612 35.738094 -1749.788737 33509.635820 1 # 18 -122.701092 35.740743 -1617.629069 35567.019868 1 # # A total of 304 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 27000; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2250.000000; abortDepth = 2300.000000; minAltitude = 50.000000; abortAltitude = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 5321; horizontalMode = rudder; horizontal = 3.000000; pitch = 30.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 107.574050 meters # Minimum depth: 1596.348152 meters looking forward 100.000000 meters along route # Maximum depth: 1617.629069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.348152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740743; longitude = -122.701092; captureRadius = 10; duration = 107; initialDepth = 1551.348152; finalDepth = 1551.348152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.280917 # Actual altitude: 66.280917 # Commanded vehicle depth:1551.348152 # Seafloor depth:-1617.629069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 159.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 159.07; MB_Bottom_Detect_Filter_Min_Depth = 33.14; MB_Bottom_Detect_Filter_Max_Depth = 159.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.021015 meters # Minimum depth: 1553.270623 meters looking forward 100.000000 meters along route # Maximum depth: 1586.116484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.270623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740605; longitude = -122.702270; captureRadius = 10; duration = 121; initialDepth = 1508.270623; finalDepth = 1551.348152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.845861 # Actual altitude: 77.845861 # Commanded vehicle depth:1508.270623 # Seafloor depth:-1586.116484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.92; MB_Bottom_Detect_Filter_Max_Range = 186.83; MB_Bottom_Detect_Filter_Min_Depth = 38.92; MB_Bottom_Detect_Filter_Max_Depth = 186.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.021237 meters # Minimum depth: 1529.560813 meters looking forward 100.000000 meters along route # Maximum depth: 1537.561768 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1484.560813 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740449; longitude = -122.703595; captureRadius = 10; duration = 121; initialDepth = 1484.560813; finalDepth = 1508.270623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.845861 # Actual altitude: 77.845861 # Commanded vehicle depth:1484.560813 # Seafloor depth:-1537.561768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.92; MB_Bottom_Detect_Filter_Max_Range = 186.83; MB_Bottom_Detect_Filter_Min_Depth = 38.92; MB_Bottom_Detect_Filter_Max_Depth = 186.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.021458 meters # Minimum depth: 1527.792143 meters looking forward 100.000000 meters along route # Maximum depth: 1533.762767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.792143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740293; longitude = -122.704919; captureRadius = 10; duration = 121; initialDepth = 1482.792143; finalDepth = 1484.560813; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.000955 # Actual altitude: 53.000955 # Commanded vehicle depth:1482.792143 # Seafloor depth:-1527.792143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.50; MB_Bottom_Detect_Filter_Max_Range = 127.20; MB_Bottom_Detect_Filter_Min_Depth = 26.50; MB_Bottom_Detect_Filter_Max_Depth = 127.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.851385 meters # Minimum depth: 1542.165175 meters looking forward 100.000000 meters along route # Maximum depth: 1559.051772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.165175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740137; longitude = -122.706244; captureRadius = 10; duration = 100; initialDepth = 1497.165175; finalDepth = 1482.792143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.165175 # Seafloor depth:-1542.165175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.851538 meters # Minimum depth: 1564.601685 meters looking forward 100.000000 meters along route # Maximum depth: 1588.199204 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.601685 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740007; longitude = -122.707348; captureRadius = 10; duration = 100; initialDepth = 1519.601685; finalDepth = 1497.165175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1519.601685 # Seafloor depth:-1564.601685 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.022048 meters # Minimum depth: 1605.693216 meters looking forward 100.000000 meters along route # Maximum depth: 1636.137121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1560.693216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739877; longitude = -122.708452; captureRadius = 10; duration = 121; initialDepth = 1560.693216; finalDepth = 1519.601685; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1560.693216 # Seafloor depth:-1605.693216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.022271 meters # Minimum depth: 1649.307258 meters looking forward 100.000000 meters along route # Maximum depth: 1681.294520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.307258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739721; longitude = -122.709776; captureRadius = 10; duration = 121; initialDepth = 1604.307258; finalDepth = 1560.693216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1604.307258 # Seafloor depth:-1649.307258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.022492 meters # Minimum depth: 1696.323730 meters looking forward 100.000000 meters along route # Maximum depth: 1730.227891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.323730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739566; longitude = -122.711101; captureRadius = 10; duration = 121; initialDepth = 1651.323730; finalDepth = 1604.307258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1651.32373 # Seafloor depth:-1696.323730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.022714 meters # Minimum depth: 1744.640029 meters looking forward 100.000000 meters along route # Maximum depth: 1771.585571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.640029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739410; longitude = -122.712426; captureRadius = 10; duration = 121; initialDepth = 1699.640029; finalDepth = 1651.323730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1699.640029 # Seafloor depth:-1744.640029 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.852431 meters # Minimum depth: 1769.118107 meters looking forward 100.000000 meters along route # Maximum depth: 1775.129912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.118107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739254; longitude = -122.713750; captureRadius = 10; duration = 100; initialDepth = 1724.118107; finalDepth = 1699.640029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0359100000001 # Actual altitude: 50.0359100000001 # Commanded vehicle depth:1724.118107 # Seafloor depth:-1774.154017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.09; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.852584 meters # Minimum depth: 1763.884830 meters looking forward 100.000000 meters along route # Maximum depth: 1766.654724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.884830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739124; longitude = -122.714854; captureRadius = 10; duration = 100; initialDepth = 1718.884830; finalDepth = 1724.118107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0359100000001 # Actual altitude: 50.0359100000001 # Commanded vehicle depth:1718.88483 # Seafloor depth:-1766.654724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 120.09; MB_Bottom_Detect_Filter_Min_Depth = 25.02; MB_Bottom_Detect_Filter_Max_Depth = 120.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.023305 meters # Minimum depth: 1768.528816 meters looking forward 100.000000 meters along route # Maximum depth: 1771.791863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.528816 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738994; longitude = -122.715958; captureRadius = 10; duration = 121; initialDepth = 1723.528816; finalDepth = 1718.884830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.769894 # Actual altitude: 50 # Commanded vehicle depth:1723.528816 # Seafloor depth:-1770.607774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.023527 meters # Minimum depth: 1722.309520 meters looking forward 100.000000 meters along route # Maximum depth: 1752.616972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.309520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738838; longitude = -122.717283; captureRadius = 10; duration = 121; initialDepth = 1677.309520; finalDepth = 1723.528816; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.307452 # Actual altitude: 75.307452 # Commanded vehicle depth:1677.30952 # Seafloor depth:-1752.616972 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 180.74; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 180.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.023749 meters # Minimum depth: 1683.459537 meters looking forward 100.000000 meters along route # Maximum depth: 1703.371460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1638.459537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738682; longitude = -122.718607; captureRadius = 10; duration = 121; initialDepth = 1638.459537; finalDepth = 1677.309520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.307452 # Actual altitude: 75.307452 # Commanded vehicle depth:1638.459537 # Seafloor depth:-1703.371460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 180.74; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 180.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 121.023971 meters # Minimum depth: 1649.208317 meters looking forward 100.000000 meters along route # Maximum depth: 1679.160221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.208317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738527; longitude = -122.719932; captureRadius = 10; duration = 121; initialDepth = 1604.208317; finalDepth = 1638.459537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.951904 # Actual altitude: 74.951904 # Commanded vehicle depth:1604.208317 # Seafloor depth:-1679.160221 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.48; MB_Bottom_Detect_Filter_Max_Range = 179.88; MB_Bottom_Detect_Filter_Min_Depth = 37.48; MB_Bottom_Detect_Filter_Max_Depth = 179.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 100.853478 meters # Minimum depth: 1639.181806 meters looking forward 100.000000 meters along route # Maximum depth: 1666.679853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1594.181806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738371; longitude = -122.721257; captureRadius = 10; duration = 100; initialDepth = 1594.181806; finalDepth = 1604.208317; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.951904 # Actual altitude: 74.951904 # Commanded vehicle depth:1594.181806 # Seafloor depth:-1639.181806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.48; MB_Bottom_Detect_Filter_Max_Range = 179.88; MB_Bottom_Detect_Filter_Min_Depth = 37.48; MB_Bottom_Detect_Filter_Max_Depth = 179.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 114.300795 meters # Minimum depth: 1674.720093 meters looking forward 100.000000 meters along route # Maximum depth: 1741.210808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.720093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738241; longitude = -122.722361; captureRadius = 10; duration = 114; initialDepth = 1629.720093; finalDepth = 1594.181806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1629.720093 # Seafloor depth:-1674.720093 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 17.849077 meters # Minimum depth: 1709.071849 meters looking forward 100.000000 meters along route # Maximum depth: 1749.788737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1664.071849 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738094; longitude = -122.723612; captureRadius = 10; duration = 17; initialDepth = 1664.071849; finalDepth = 1629.720093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7168880000002 # Actual altitude: 85.7168880000002 # Commanded vehicle depth:1664.071849 # Seafloor depth:-1749.788737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.86; MB_Bottom_Detect_Filter_Max_Range = 205.72; MB_Bottom_Detect_Filter_Min_Depth = 42.86; MB_Bottom_Detect_Filter_Max_Depth = 205.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.094736 meters # Minimum depth: 1724.257652 meters looking forward 100.000000 meters along route # Maximum depth: 1742.776959 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.257652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737986; longitude = -122.723465; captureRadius = 10; duration = 107; initialDepth = 1679.257652; finalDepth = 1664.071849; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.7168880000002 # Actual altitude: 85.7168880000002 # Commanded vehicle depth:1679.257652 # Seafloor depth:-1742.776959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.86; MB_Bottom_Detect_Filter_Max_Range = 205.72; MB_Bottom_Detect_Filter_Min_Depth = 42.86; MB_Bottom_Detect_Filter_Max_Depth = 205.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.095216 meters # Minimum depth: 1696.952734 meters looking forward 100.000000 meters along route # Maximum depth: 1726.759853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1651.952734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737343; longitude = -122.722581; captureRadius = 10; duration = 107; initialDepth = 1651.952734; finalDepth = 1679.257652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8071190000001 # Actual altitude: 74.8071190000001 # Commanded vehicle depth:1651.952734 # Seafloor depth:-1726.759853 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.40; MB_Bottom_Detect_Filter_Max_Range = 179.54; MB_Bottom_Detect_Filter_Min_Depth = 37.40; MB_Bottom_Detect_Filter_Max_Depth = 179.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 110.950947 meters # Minimum depth: 1669.432506 meters looking forward 100.000000 meters along route # Maximum depth: 1714.589119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1624.432506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736700; longitude = -122.721698; captureRadius = 10; duration = 110; initialDepth = 1624.432506; finalDepth = 1651.952734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8071190000001 # Actual altitude: 74.8071190000001 # Commanded vehicle depth:1624.432506 # Seafloor depth:-1678.358264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.40; MB_Bottom_Detect_Filter_Max_Range = 179.54; MB_Bottom_Detect_Filter_Min_Depth = 37.40; MB_Bottom_Detect_Filter_Max_Depth = 179.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 103.240922 meters # Minimum depth: 1716.628108 meters looking forward 100.000000 meters along route # Maximum depth: 1753.588162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1671.628108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736033; longitude = -122.720783; captureRadius = 10; duration = 103; initialDepth = 1671.628108; finalDepth = 1624.432506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.9257579999999 # Actual altitude: 53.9257579999999 # Commanded vehicle depth:1671.628108 # Seafloor depth:-1716.628108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 129.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.96; MB_Bottom_Detect_Filter_Max_Range = 129.42; MB_Bottom_Detect_Filter_Min_Depth = 26.96; MB_Bottom_Detect_Filter_Max_Depth = 129.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.096653 meters # Minimum depth: 1764.697383 meters looking forward 100.000000 meters along route # Maximum depth: 1772.900330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.697383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735413; longitude = -122.719932; captureRadius = 10; duration = 107; initialDepth = 1719.697383; finalDepth = 1671.628108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1719.697383 # Seafloor depth:-1764.697383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.097133 meters # Minimum depth: 1770.817292 meters looking forward 100.000000 meters along route # Maximum depth: 1773.161160 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1725.817292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734769; longitude = -122.719049; captureRadius = 10; duration = 107; initialDepth = 1725.817292; finalDepth = 1719.697383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1725.817292 # Seafloor depth:-1770.817292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.097612 meters # Minimum depth: 1771.300178 meters looking forward 100.000000 meters along route # Maximum depth: 1773.033976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.300178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734126; longitude = -122.718166; captureRadius = 10; duration = 107; initialDepth = 1726.300178; finalDepth = 1725.817292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1726.300178 # Seafloor depth:-1771.300178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.098091 meters # Minimum depth: 1750.259446 meters looking forward 100.000000 meters along route # Maximum depth: 1763.163658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.259446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733483; longitude = -122.717283; captureRadius = 10; duration = 107; initialDepth = 1705.259446; finalDepth = 1726.300178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.522203 # Actual altitude: 57.522203 # Commanded vehicle depth:1705.259446 # Seafloor depth:-1762.781649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.76; MB_Bottom_Detect_Filter_Max_Range = 138.05; MB_Bottom_Detect_Filter_Min_Depth = 28.76; MB_Bottom_Detect_Filter_Max_Depth = 138.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.098571 meters # Minimum depth: 1731.869170 meters looking forward 100.000000 meters along route # Maximum depth: 1744.754732 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.869170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732839; longitude = -122.716400; captureRadius = 10; duration = 107; initialDepth = 1686.869170; finalDepth = 1705.259446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.8855620000002 # Actual altitude: 57.8855620000002 # Commanded vehicle depth:1686.86917 # Seafloor depth:-1744.754732 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.94; MB_Bottom_Detect_Filter_Max_Range = 138.93; MB_Bottom_Detect_Filter_Min_Depth = 28.94; MB_Bottom_Detect_Filter_Max_Depth = 138.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.099050 meters # Minimum depth: 1679.418987 meters looking forward 100.000000 meters along route # Maximum depth: 1719.894050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.418987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732196; longitude = -122.715517; captureRadius = 10; duration = 107; initialDepth = 1634.418987; finalDepth = 1686.869170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4750630000001 # Actual altitude: 85.4750630000001 # Commanded vehicle depth:1634.418987 # Seafloor depth:-1719.894050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.74; MB_Bottom_Detect_Filter_Max_Range = 205.14; MB_Bottom_Detect_Filter_Min_Depth = 42.74; MB_Bottom_Detect_Filter_Max_Depth = 205.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.099529 meters # Minimum depth: 1641.718561 meters looking forward 100.000000 meters along route # Maximum depth: 1674.185436 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.718561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731552; longitude = -122.714633; captureRadius = 10; duration = 107; initialDepth = 1596.718561; finalDepth = 1634.418987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4750630000001 # Actual altitude: 85.4750630000001 # Commanded vehicle depth:1596.718561 # Seafloor depth:-1674.185436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.74; MB_Bottom_Detect_Filter_Max_Range = 205.14; MB_Bottom_Detect_Filter_Min_Depth = 42.74; MB_Bottom_Detect_Filter_Max_Depth = 205.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.100009 meters # Minimum depth: 1555.183036 meters looking forward 100.000000 meters along route # Maximum depth: 1614.769529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.183036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730909; longitude = -122.713750; captureRadius = 10; duration = 107; initialDepth = 1510.183036; finalDepth = 1596.718561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.586493 # Actual altitude: 100 # Commanded vehicle depth:1510.183036 # Seafloor depth:-1614.769529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.100488 meters # Minimum depth: 1520.239543 meters looking forward 100.000000 meters along route # Maximum depth: 1553.260828 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.239543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730266; longitude = -122.712867; captureRadius = 10; duration = 107; initialDepth = 1475.239543; finalDepth = 1510.183036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.586493 # Actual altitude: 100 # Commanded vehicle depth:1475.239543 # Seafloor depth:-1553.260828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 108.874897 meters # Minimum depth: 1481.801181 meters looking forward 100.000000 meters along route # Maximum depth: 1505.090661 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.801181 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729622; longitude = -122.711984; captureRadius = 10; duration = 108; initialDepth = 1436.801181; finalDepth = 1475.239543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.021285 # Actual altitude: 78.021285 # Commanded vehicle depth:1436.801181 # Seafloor depth:-1505.090661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.01; MB_Bottom_Detect_Filter_Max_Range = 187.25; MB_Bottom_Detect_Filter_Min_Depth = 39.01; MB_Bottom_Detect_Filter_Max_Depth = 187.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 105.327517 meters # Minimum depth: 1481.907295 meters looking forward 100.000000 meters along route # Maximum depth: 1506.583616 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.907295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728968; longitude = -122.711086; captureRadius = 10; duration = 105; initialDepth = 1436.907295; finalDepth = 1436.801181; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2894799999999 # Actual altitude: 68.2894799999999 # Commanded vehicle depth:1436.907295 # Seafloor depth:-1481.907295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 163.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.14; MB_Bottom_Detect_Filter_Max_Range = 163.89; MB_Bottom_Detect_Filter_Min_Depth = 34.14; MB_Bottom_Detect_Filter_Max_Depth = 163.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.101926 meters # Minimum depth: 1524.111851 meters looking forward 100.000000 meters along route # Maximum depth: 1560.347892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.111851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728335; longitude = -122.710218; captureRadius = 10; duration = 107; initialDepth = 1479.111851; finalDepth = 1436.907295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1479.111851 # Seafloor depth:-1524.111851 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.102405 meters # Minimum depth: 1595.159792 meters looking forward 100.000000 meters along route # Maximum depth: 1621.314223 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.159792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727692; longitude = -122.709335; captureRadius = 10; duration = 107; initialDepth = 1550.159792; finalDepth = 1479.111851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1550.159792 # Seafloor depth:-1595.159792 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 107.102885 meters # Minimum depth: 1616.210169 meters looking forward 100.000000 meters along route # Maximum depth: 1628.190605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.210169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727049; longitude = -122.708452; captureRadius = 10; duration = 107; initialDepth = 1571.210169; finalDepth = 1550.159792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9804360000001 # Actual altitude: 56.9804360000001 # Commanded vehicle depth:1571.210169 # Seafloor depth:-1628.190605 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.49; MB_Bottom_Detect_Filter_Max_Range = 136.75; MB_Bottom_Detect_Filter_Min_Depth = 28.49; MB_Bottom_Detect_Filter_Max_Depth = 136.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 104.830772 meters # Minimum depth: 1646.404453 meters looking forward 100.000000 meters along route # Maximum depth: 1686.719099 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.404453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726405; longitude = -122.707569; captureRadius = 10; duration = 104; initialDepth = 1601.404453; finalDepth = 1571.210169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.9804360000001 # Actual altitude: 56.9804360000001 # Commanded vehicle depth:1601.404453 # Seafloor depth:-1646.404453 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.49; MB_Bottom_Detect_Filter_Max_Range = 136.75; MB_Bottom_Detect_Filter_Min_Depth = 28.49; MB_Bottom_Detect_Filter_Max_Depth = 136.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 64.361388 meters # Minimum depth: 1686.719099 meters looking forward 100.000000 meters along route # Maximum depth: 1687.594452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.719099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725775; longitude = -122.706704; captureRadius = 10; duration = 64; initialDepth = 1641.719099; finalDepth = 1601.404453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8753530000001 # Actual altitude: 50 # Commanded vehicle depth:1641.719099 # Seafloor depth:-1687.594452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 104.255747 meters # Minimum depth: 1679.808019 meters looking forward 100.000000 meters along route # Maximum depth: 1682.977668 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.808019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725309; longitude = -122.707127; captureRadius = 10; duration = 104; initialDepth = 1634.808019; finalDepth = 1641.719099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1696489999999 # Actual altitude: 50 # Commanded vehicle depth:1634.808019 # Seafloor depth:-1682.977668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 121.769817 meters # Minimum depth: 1680.805943 meters looking forward 100.000000 meters along route # Maximum depth: 1689.841613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.805943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724553; longitude = -122.707812; captureRadius = 10; duration = 121; initialDepth = 1635.805943; finalDepth = 1634.808019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.1696489999999 # Actual altitude: 50 # Commanded vehicle depth:1635.805943 # Seafloor depth:-1680.805943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 121.770275 meters # Minimum depth: 1668.027403 meters looking forward 100.000000 meters along route # Maximum depth: 1688.574735 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.027403 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723670; longitude = -122.708612; captureRadius = 10; duration = 121; initialDepth = 1623.027403; finalDepth = 1635.805943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5473319999999 # Actual altitude: 65.5473319999999 # Commanded vehicle depth:1623.027403 # Seafloor depth:-1688.574735 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.77; MB_Bottom_Detect_Filter_Max_Range = 157.31; MB_Bottom_Detect_Filter_Min_Depth = 32.77; MB_Bottom_Detect_Filter_Max_Depth = 157.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 122.704337 meters # Minimum depth: 1636.498343 meters looking forward 100.000000 meters along route # Maximum depth: 1666.795702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1591.498343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.709412; captureRadius = 10; duration = 122; initialDepth = 1591.498343; finalDepth = 1623.027403; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2973589999999 # Actual altitude: 75.2973589999999 # Commanded vehicle depth:1591.498343 # Seafloor depth:-1666.795702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 180.71; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 180.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 134.429875 meters # Minimum depth: 1606.511961 meters looking forward 100.000000 meters along route # Maximum depth: 1636.365808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.511961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721897; longitude = -122.710218; captureRadius = 10; duration = 134; initialDepth = 1561.511961; finalDepth = 1591.498343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2973589999999 # Actual altitude: 75.2973589999999 # Commanded vehicle depth:1561.511961 # Seafloor depth:-1636.365808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.65; MB_Bottom_Detect_Filter_Max_Range = 180.71; MB_Bottom_Detect_Filter_Min_Depth = 37.65; MB_Bottom_Detect_Filter_Max_Depth = 180.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.179355 meters # Minimum depth: 1607.023850 meters looking forward 100.000000 meters along route # Maximum depth: 1625.106505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.023850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720922; longitude = -122.711101; captureRadius = 10; duration = 108; initialDepth = 1562.023850; finalDepth = 1561.511961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8538470000001 # Actual altitude: 74.8538470000001 # Commanded vehicle depth:1562.02385 # Seafloor depth:-1607.023850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 179.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.43; MB_Bottom_Detect_Filter_Max_Range = 179.65; MB_Bottom_Detect_Filter_Min_Depth = 37.43; MB_Bottom_Detect_Filter_Max_Depth = 179.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 121.772103 meters # Minimum depth: 1628.434224 meters looking forward 100.000000 meters along route # Maximum depth: 1643.940953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.434224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.711812; captureRadius = 10; duration = 121; initialDepth = 1583.434224; finalDepth = 1562.023850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1583.434224 # Seafloor depth:-1628.434224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 121.772561 meters # Minimum depth: 1650.274609 meters looking forward 100.000000 meters along route # Maximum depth: 1675.367813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.274609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.712612; captureRadius = 10; duration = 121; initialDepth = 1605.274609; finalDepth = 1583.434224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1605.274609 # Seafloor depth:-1650.274609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 121.773017 meters # Minimum depth: 1678.972080 meters looking forward 100.000000 meters along route # Maximum depth: 1728.006634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.972080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.713412; captureRadius = 10; duration = 121; initialDepth = 1633.972080; finalDepth = 1605.274609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1633.97208 # Seafloor depth:-1678.972080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 149.282314 meters # Minimum depth: 1727.691348 meters looking forward 100.000000 meters along route # Maximum depth: 1770.948191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1682.691348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.714212; captureRadius = 10; duration = 149; initialDepth = 1682.691348; finalDepth = 1633.972080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.3961419999998 # Actual altitude: 50 # Commanded vehicle depth:1682.691348 # Seafloor depth:-1729.087490 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 29.348984 meters # Minimum depth: 1764.701432 meters looking forward 100.000000 meters along route # Maximum depth: 1770.948191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.701432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716405; longitude = -122.715192; captureRadius = 10; duration = 29; initialDepth = 1719.701432; finalDepth = 1682.691348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.716293 # Actual altitude: 50 # Commanded vehicle depth:1719.701432 # Seafloor depth:-1768.417725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854105 meters # Minimum depth: 1734.027550 meters looking forward 100.000000 meters along route # Maximum depth: 1761.256428 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1689.027550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716398; longitude = -122.715517; captureRadius = 10; duration = 119; initialDepth = 1689.027550; finalDepth = 1719.701432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.2288779999999 # Actual altitude: 72.2288779999999 # Commanded vehicle depth:1689.02755 # Seafloor depth:-1761.256428 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 173.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.11; MB_Bottom_Detect_Filter_Max_Range = 173.35; MB_Bottom_Detect_Filter_Min_Depth = 36.11; MB_Bottom_Detect_Filter_Max_Depth = 173.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854137 meters # Minimum depth: 1682.806719 meters looking forward 100.000000 meters along route # Maximum depth: 1716.581926 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.806719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716371; longitude = -122.716841; captureRadius = 10; duration = 119; initialDepth = 1637.806719; finalDepth = 1689.027550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7752070000001 # Actual altitude: 78.7752070000001 # Commanded vehicle depth:1637.806719 # Seafloor depth:-1716.581926 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.39; MB_Bottom_Detect_Filter_Max_Range = 189.06; MB_Bottom_Detect_Filter_Min_Depth = 39.39; MB_Bottom_Detect_Filter_Max_Depth = 189.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854168 meters # Minimum depth: 1618.190723 meters looking forward 100.000000 meters along route # Maximum depth: 1663.610671 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.190723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716344; longitude = -122.718166; captureRadius = 10; duration = 119; initialDepth = 1573.190723; finalDepth = 1637.806719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.419948 # Actual altitude: 90.419948 # Commanded vehicle depth:1573.190723 # Seafloor depth:-1663.610671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.21; MB_Bottom_Detect_Filter_Max_Range = 217.01; MB_Bottom_Detect_Filter_Min_Depth = 45.21; MB_Bottom_Detect_Filter_Max_Depth = 217.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854199 meters # Minimum depth: 1556.138728 meters looking forward 100.000000 meters along route # Maximum depth: 1598.142112 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1511.138728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716317; longitude = -122.719491; captureRadius = 10; duration = 119; initialDepth = 1511.138728; finalDepth = 1573.190723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.419948 # Actual altitude: 90.419948 # Commanded vehicle depth:1511.138728 # Seafloor depth:-1598.142112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.21; MB_Bottom_Detect_Filter_Max_Range = 217.01; MB_Bottom_Detect_Filter_Min_Depth = 45.21; MB_Bottom_Detect_Filter_Max_Depth = 217.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854231 meters # Minimum depth: 1494.946044 meters looking forward 100.000000 meters along route # Maximum depth: 1531.166277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1449.946044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716290; longitude = -122.720815; captureRadius = 10; duration = 119; initialDepth = 1449.946044; finalDepth = 1511.138728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.0033840000001 # Actual altitude: 87.0033840000001 # Commanded vehicle depth:1449.946044 # Seafloor depth:-1531.166277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 43.50; MB_Bottom_Detect_Filter_Max_Range = 208.81; MB_Bottom_Detect_Filter_Min_Depth = 43.50; MB_Bottom_Detect_Filter_Max_Depth = 208.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854263 meters # Minimum depth: 1469.332254 meters looking forward 100.000000 meters along route # Maximum depth: 1486.930178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.332254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716263; longitude = -122.722140; captureRadius = 10; duration = 119; initialDepth = 1424.332254; finalDepth = 1449.946044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.220233 # Actual altitude: 81.220233 # Commanded vehicle depth:1424.332254 # Seafloor depth:-1486.930178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 194.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.61; MB_Bottom_Detect_Filter_Max_Range = 194.93; MB_Bottom_Detect_Filter_Min_Depth = 40.61; MB_Bottom_Detect_Filter_Max_Depth = 194.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854295 meters # Minimum depth: 1424.626368 meters looking forward 100.000000 meters along route # Maximum depth: 1458.108377 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1379.626368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716236; longitude = -122.723465; captureRadius = 10; duration = 119; initialDepth = 1379.626368; finalDepth = 1424.332254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4820090000001 # Actual altitude: 78.4820090000001 # Commanded vehicle depth:1379.626368 # Seafloor depth:-1458.108377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 188.36; MB_Bottom_Detect_Filter_Min_Depth = 39.24; MB_Bottom_Detect_Filter_Max_Depth = 188.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854326 meters # Minimum depth: 1408.262120 meters looking forward 100.000000 meters along route # Maximum depth: 1412.154037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1363.262120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716209; longitude = -122.724789; captureRadius = 10; duration = 119; initialDepth = 1363.262120; finalDepth = 1379.626368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.4820090000001 # Actual altitude: 78.4820090000001 # Commanded vehicle depth:1363.26212 # Seafloor depth:-1408.995954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 188.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.24; MB_Bottom_Detect_Filter_Max_Range = 188.36; MB_Bottom_Detect_Filter_Min_Depth = 39.24; MB_Bottom_Detect_Filter_Max_Depth = 188.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854358 meters # Minimum depth: 1417.048671 meters looking forward 100.000000 meters along route # Maximum depth: 1463.811403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1372.048671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716182; longitude = -122.726114; captureRadius = 10; duration = 119; initialDepth = 1372.048671; finalDepth = 1363.262120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7338339999999 # Actual altitude: 50 # Commanded vehicle depth:1372.048671 # Seafloor depth:-1417.048671 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854390 meters # Minimum depth: 1485.782235 meters looking forward 100.000000 meters along route # Maximum depth: 1540.921324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1440.782235 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716154; longitude = -122.727439; captureRadius = 10; duration = 119; initialDepth = 1440.782235; finalDepth = 1372.048671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1440.782235 # Seafloor depth:-1485.782235 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854422 meters # Minimum depth: 1563.179150 meters looking forward 100.000000 meters along route # Maximum depth: 1606.839482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.179150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716127; longitude = -122.728763; captureRadius = 10; duration = 119; initialDepth = 1518.179150; finalDepth = 1440.782235; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1518.17915 # Seafloor depth:-1563.179150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854454 meters # Minimum depth: 1632.067703 meters looking forward 100.000000 meters along route # Maximum depth: 1677.904652 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.067703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716100; longitude = -122.730088; captureRadius = 10; duration = 119; initialDepth = 1587.067703; finalDepth = 1518.179150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1587.067703 # Seafloor depth:-1632.067703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.854486 meters # Minimum depth: 1702.858144 meters looking forward 100.000000 meters along route # Maximum depth: 1742.474841 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.858144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716073; longitude = -122.731413; captureRadius = 10; duration = 119; initialDepth = 1657.858144; finalDepth = 1587.067703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1657.858144 # Seafloor depth:-1702.858144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 133.171688 meters # Minimum depth: 1747.610167 meters looking forward 100.000000 meters along route # Maximum depth: 1748.939894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1702.610167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716046; longitude = -122.732737; captureRadius = 10; duration = 133; initialDepth = 1702.610167; finalDepth = 1657.858144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1702.610167 # Seafloor depth:-1747.610167 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 32.672544 meters # Minimum depth: 1745.867513 meters looking forward 100.000000 meters along route # Maximum depth: 1748.939894 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1700.867513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716016; longitude = -122.734209; captureRadius = 10; duration = 32; initialDepth = 1700.867513; finalDepth = 1702.610167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1700.867513 # Seafloor depth:-1745.867513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 147.026432 meters # Minimum depth: 1750.562904 meters looking forward 100.000000 meters along route # Maximum depth: 1756.102591 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.562904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.734223; captureRadius = 10; duration = 147; initialDepth = 1705.562904; finalDepth = 1700.867513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1705.562904 # Seafloor depth:-1750.562904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.252960 meters # Minimum depth: 1754.057670 meters looking forward 100.000000 meters along route # Maximum depth: 1756.629550 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.057670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714397; longitude = -122.734285; captureRadius = 10; duration = 105; initialDepth = 1709.057670; finalDepth = 1705.562904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5718800000002 # Actual altitude: 50 # Commanded vehicle depth:1709.05767 # Seafloor depth:-1756.629550 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 69.873033 meters # Minimum depth: 1751.982391 meters looking forward 100.000000 meters along route # Maximum depth: 1755.000013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1706.982391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713449; longitude = -122.734329; captureRadius = 10; duration = 69; initialDepth = 1706.982391; finalDepth = 1709.057670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5718800000002 # Actual altitude: 50 # Commanded vehicle depth:1706.982391 # Seafloor depth:-1751.982391 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.768506 meters # Minimum depth: 1755.502150 meters looking forward 100.000000 meters along route # Maximum depth: 1756.543229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1710.502150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.733870; captureRadius = 10; duration = 121; initialDepth = 1710.502150; finalDepth = 1706.982391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.289239 # Actual altitude: 50 # Commanded vehicle depth:1710.50215 # Seafloor depth:-1755.791389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.768049 meters # Minimum depth: 1743.463479 meters looking forward 100.000000 meters along route # Maximum depth: 1755.148948 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.463479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.733071; captureRadius = 10; duration = 121; initialDepth = 1698.463479; finalDepth = 1710.502150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.685469 # Actual altitude: 56.685469 # Commanded vehicle depth:1698.463479 # Seafloor depth:-1755.148948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.34; MB_Bottom_Detect_Filter_Max_Range = 136.05; MB_Bottom_Detect_Filter_Min_Depth = 28.34; MB_Bottom_Detect_Filter_Max_Depth = 136.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 130.636626 meters # Minimum depth: 1703.598014 meters looking forward 100.000000 meters along route # Maximum depth: 1742.554528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1658.598014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.732271; captureRadius = 10; duration = 130; initialDepth = 1658.598014; finalDepth = 1698.463479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.956514 # Actual altitude: 83.956514 # Commanded vehicle depth:1658.598014 # Seafloor depth:-1742.554528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.98; MB_Bottom_Detect_Filter_Max_Range = 201.50; MB_Bottom_Detect_Filter_Min_Depth = 41.98; MB_Bottom_Detect_Filter_Max_Depth = 201.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.444785 meters # Minimum depth: 1656.930626 meters looking forward 100.000000 meters along route # Maximum depth: 1700.537988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.930626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716669; longitude = -122.731413; captureRadius = 10; duration = 134; initialDepth = 1611.930626; finalDepth = 1658.598014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.607362 # Actual altitude: 88.607362 # Commanded vehicle depth:1611.930626 # Seafloor depth:-1700.537988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.30; MB_Bottom_Detect_Filter_Max_Range = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 44.30; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.219991 meters # Minimum depth: 1633.692384 meters looking forward 100.000000 meters along route # Maximum depth: 1651.623907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1588.692384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717644; longitude = -122.730529; captureRadius = 10; duration = 100; initialDepth = 1588.692384; finalDepth = 1611.930626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.607362 # Actual altitude: 88.607362 # Commanded vehicle depth:1588.692384 # Seafloor depth:-1651.623907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.30; MB_Bottom_Detect_Filter_Max_Range = 212.66; MB_Bottom_Detect_Filter_Min_Depth = 44.30; MB_Bottom_Detect_Filter_Max_Depth = 212.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.766219 meters # Minimum depth: 1578.422810 meters looking forward 100.000000 meters along route # Maximum depth: 1624.129956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.422810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.729871; captureRadius = 10; duration = 121; initialDepth = 1533.422810; finalDepth = 1588.692384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.707146 # Actual altitude: 90.707146 # Commanded vehicle depth:1533.42281 # Seafloor depth:-1624.129956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.35; MB_Bottom_Detect_Filter_Max_Range = 217.70; MB_Bottom_Detect_Filter_Min_Depth = 45.35; MB_Bottom_Detect_Filter_Max_Depth = 217.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.765762 meters # Minimum depth: 1536.858017 meters looking forward 100.000000 meters along route # Maximum depth: 1567.201644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.858017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.729071; captureRadius = 10; duration = 121; initialDepth = 1491.858017; finalDepth = 1533.422810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.707146 # Actual altitude: 90.707146 # Commanded vehicle depth:1491.858017 # Seafloor depth:-1567.201644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.35; MB_Bottom_Detect_Filter_Max_Range = 217.70; MB_Bottom_Detect_Filter_Min_Depth = 45.35; MB_Bottom_Detect_Filter_Max_Depth = 217.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 126.800383 meters # Minimum depth: 1490.230474 meters looking forward 100.000000 meters along route # Maximum depth: 1538.296583 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1445.230474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.728272; captureRadius = 10; duration = 126; initialDepth = 1445.230474; finalDepth = 1491.858017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.0661090000001 # Actual altitude: 93.0661090000001 # Commanded vehicle depth:1445.230474 # Seafloor depth:-1538.296583 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.53; MB_Bottom_Detect_Filter_Max_Range = 223.36; MB_Bottom_Detect_Filter_Min_Depth = 46.53; MB_Bottom_Detect_Filter_Max_Depth = 223.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.442276 meters # Minimum depth: 1431.074104 meters looking forward 100.000000 meters along route # Maximum depth: 1488.156519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1386.074104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721057; longitude = -122.727439; captureRadius = 10; duration = 134; initialDepth = 1386.074104; finalDepth = 1445.230474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.082415 # Actual altitude: 100 # Commanded vehicle depth:1386.074104 # Seafloor depth:-1488.156519 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 104.051883 meters # Minimum depth: 1393.292852 meters looking forward 100.000000 meters along route # Maximum depth: 1421.634966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1348.292852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722032; longitude = -122.726555; captureRadius = 10; duration = 104; initialDepth = 1348.292852; finalDepth = 1386.074104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.082415 # Actual altitude: 100 # Commanded vehicle depth:1348.292852 # Seafloor depth:-1421.634966 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.763933 meters # Minimum depth: 1346.149647 meters looking forward 100.000000 meters along route # Maximum depth: 1372.699947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1301.149647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.725872; captureRadius = 10; duration = 121; initialDepth = 1301.149647; finalDepth = 1348.292852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.342114 # Actual altitude: 73.342114 # Commanded vehicle depth:1301.149647 # Seafloor depth:-1372.699947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.67; MB_Bottom_Detect_Filter_Max_Range = 176.02; MB_Bottom_Detect_Filter_Min_Depth = 36.67; MB_Bottom_Detect_Filter_Max_Depth = 176.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.763475 meters # Minimum depth: 1342.036574 meters looking forward 100.000000 meters along route # Maximum depth: 1347.454405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1297.036574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723670; longitude = -122.725072; captureRadius = 10; duration = 121; initialDepth = 1297.036574; finalDepth = 1301.149647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5503000000001 # Actual altitude: 71.5503000000001 # Commanded vehicle depth:1297.036574 # Seafloor depth:-1342.036574 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 171.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.78; MB_Bottom_Detect_Filter_Max_Range = 171.72; MB_Bottom_Detect_Filter_Min_Depth = 35.78; MB_Bottom_Detect_Filter_Max_Depth = 171.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.964283 meters # Minimum depth: 1348.772504 meters looking forward 100.000000 meters along route # Maximum depth: 1363.628411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.772504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724553; longitude = -122.724272; captureRadius = 10; duration = 122; initialDepth = 1303.772504; finalDepth = 1297.036574; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1303.772504 # Seafloor depth:-1348.772504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.439767 meters # Minimum depth: 1364.154878 meters looking forward 100.000000 meters along route # Maximum depth: 1420.793750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1319.154878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725444; longitude = -122.723465; captureRadius = 10; duration = 134; initialDepth = 1319.154878; finalDepth = 1303.772504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1319.154878 # Seafloor depth:-1364.154878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.883632 meters # Minimum depth: 1427.009919 meters looking forward 100.000000 meters along route # Maximum depth: 1445.949826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.009919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726420; longitude = -122.722581; captureRadius = 10; duration = 107; initialDepth = 1382.009919; finalDepth = 1319.154878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1382.009919 # Seafloor depth:-1427.009919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.761646 meters # Minimum depth: 1458.958752 meters looking forward 100.000000 meters along route # Maximum depth: 1492.667904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.958752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727202; longitude = -122.721873; captureRadius = 10; duration = 121; initialDepth = 1413.958752; finalDepth = 1382.009919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1413.958752 # Seafloor depth:-1458.958752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.761189 meters # Minimum depth: 1496.307936 meters looking forward 100.000000 meters along route # Maximum depth: 1518.845772 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1451.307936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.721073; captureRadius = 10; duration = 121; initialDepth = 1451.307936; finalDepth = 1413.958752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1451.307936 # Seafloor depth:-1496.307936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.760732 meters # Minimum depth: 1512.065620 meters looking forward 100.000000 meters along route # Maximum depth: 1523.231955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.065620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728968; longitude = -122.720273; captureRadius = 10; duration = 121; initialDepth = 1467.065620; finalDepth = 1451.307936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1663349999999 # Actual altitude: 56.1663349999999 # Commanded vehicle depth:1467.06562 # Seafloor depth:-1523.231955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.08; MB_Bottom_Detect_Filter_Max_Range = 134.80; MB_Bottom_Detect_Filter_Min_Depth = 28.08; MB_Bottom_Detect_Filter_Max_Depth = 134.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 131.804853 meters # Minimum depth: 1520.899553 meters looking forward 100.000000 meters along route # Maximum depth: 1604.844861 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.899553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729851; longitude = -122.719473; captureRadius = 10; duration = 131; initialDepth = 1475.899553; finalDepth = 1467.065620; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.1663349999999 # Actual altitude: 56.1663349999999 # Commanded vehicle depth:1475.899553 # Seafloor depth:-1520.899553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.08; MB_Bottom_Detect_Filter_Max_Range = 134.80; MB_Bottom_Detect_Filter_Min_Depth = 28.08; MB_Bottom_Detect_Filter_Max_Depth = 134.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 111.715238 meters # Minimum depth: 1609.594422 meters looking forward 100.000000 meters along route # Maximum depth: 1637.614403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.594422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730807; longitude = -122.718607; captureRadius = 10; duration = 111; initialDepth = 1564.594422; finalDepth = 1475.899553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1564.594422 # Seafloor depth:-1609.594422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.759360 meters # Minimum depth: 1670.049483 meters looking forward 100.000000 meters along route # Maximum depth: 1707.451773 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1625.049483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731618; longitude = -122.717874; captureRadius = 10; duration = 121; initialDepth = 1625.049483; finalDepth = 1564.594422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1625.049483 # Seafloor depth:-1670.049483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.758902 meters # Minimum depth: 1721.746226 meters looking forward 100.000000 meters along route # Maximum depth: 1752.469163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1676.746226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.717074; captureRadius = 10; duration = 121; initialDepth = 1676.746226; finalDepth = 1625.049483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1676.746226 # Seafloor depth:-1721.746226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.758445 meters # Minimum depth: 1735.311823 meters looking forward 100.000000 meters along route # Maximum depth: 1750.329756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1690.311823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.716274; captureRadius = 10; duration = 121; initialDepth = 1690.311823; finalDepth = 1676.746226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0179330000001 # Actual altitude: 60.0179330000001 # Commanded vehicle depth:1690.311823 # Seafloor depth:-1750.329756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 144.04; MB_Bottom_Detect_Filter_Min_Depth = 30.01; MB_Bottom_Detect_Filter_Max_Depth = 144.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 127.968819 meters # Minimum depth: 1736.489994 meters looking forward 100.000000 meters along route # Maximum depth: 1755.702537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.489994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734267; longitude = -122.715474; captureRadius = 10; duration = 127; initialDepth = 1691.489994; finalDepth = 1690.311823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0179330000001 # Actual altitude: 60.0179330000001 # Commanded vehicle depth:1691.489994 # Seafloor depth:-1736.489994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.01; MB_Bottom_Detect_Filter_Max_Range = 144.04; MB_Bottom_Detect_Filter_Min_Depth = 30.01; MB_Bottom_Detect_Filter_Max_Depth = 144.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.434193 meters # Minimum depth: 1756.039148 meters looking forward 100.000000 meters along route # Maximum depth: 1773.907658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.039148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735195; longitude = -122.714633; captureRadius = 10; duration = 134; initialDepth = 1711.039148; finalDepth = 1691.489994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1711.039148 # Seafloor depth:-1756.039148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.869581 meters # Minimum depth: 1765.474540 meters looking forward 100.000000 meters along route # Maximum depth: 1773.632952 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.474540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736170; longitude = -122.713750; captureRadius = 10; duration = 102; initialDepth = 1720.474540; finalDepth = 1711.039148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.158412 # Actual altitude: 53.158412 # Commanded vehicle depth:1720.47454 # Seafloor depth:-1773.632952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.58; MB_Bottom_Detect_Filter_Max_Range = 127.58; MB_Bottom_Detect_Filter_Min_Depth = 26.58; MB_Bottom_Detect_Filter_Max_Depth = 127.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.756617 meters # Minimum depth: 1728.680606 meters looking forward 100.000000 meters along route # Maximum depth: 1751.511010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1683.680606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.713075; captureRadius = 10; duration = 121; initialDepth = 1683.680606; finalDepth = 1720.474540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.830404 # Actual altitude: 67.830404 # Commanded vehicle depth:1683.680606 # Seafloor depth:-1751.511010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 162.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.92; MB_Bottom_Detect_Filter_Max_Range = 162.79; MB_Bottom_Detect_Filter_Min_Depth = 33.92; MB_Bottom_Detect_Filter_Max_Depth = 162.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.756159 meters # Minimum depth: 1700.395192 meters looking forward 100.000000 meters along route # Maximum depth: 1722.654466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.395192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737799; longitude = -122.712275; captureRadius = 10; duration = 121; initialDepth = 1655.395192; finalDepth = 1683.680606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.830404 # Actual altitude: 67.830404 # Commanded vehicle depth:1655.395192 # Seafloor depth:-1722.654466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 162.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.92; MB_Bottom_Detect_Filter_Max_Range = 162.79; MB_Bottom_Detect_Filter_Min_Depth = 33.92; MB_Bottom_Detect_Filter_Max_Depth = 162.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 124.132928 meters # Minimum depth: 1680.465691 meters looking forward 100.000000 meters along route # Maximum depth: 1698.655832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1635.465691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738682; longitude = -122.711475; captureRadius = 10; duration = 124; initialDepth = 1635.465691; finalDepth = 1655.395192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.259274 # Actual altitude: 67.259274 # Commanded vehicle depth:1635.465691 # Seafloor depth:-1698.655832 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.63; MB_Bottom_Detect_Filter_Max_Range = 161.42; MB_Bottom_Detect_Filter_Min_Depth = 33.63; MB_Bottom_Detect_Filter_Max_Depth = 161.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.431684 meters # Minimum depth: 1676.187136 meters looking forward 100.000000 meters along route # Maximum depth: 1680.352362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.187136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739583; longitude = -122.710659; captureRadius = 10; duration = 134; initialDepth = 1631.187136; finalDepth = 1635.465691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.1901409999998 # Actual altitude: 63.1901409999998 # Commanded vehicle depth:1631.187136 # Seafloor depth:-1680.352362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 151.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.60; MB_Bottom_Detect_Filter_Max_Range = 151.66; MB_Bottom_Detect_Filter_Min_Depth = 31.60; MB_Bottom_Detect_Filter_Max_Depth = 151.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 138.429443 meters # Minimum depth: 1676.660150 meters looking forward 100.000000 meters along route # Maximum depth: 1688.503080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.660150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740558; longitude = -122.709776; captureRadius = 10; duration = 138; initialDepth = 1631.660150; finalDepth = 1631.187136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1652260000001 # Actual altitude: 50 # Commanded vehicle depth:1631.66015 # Seafloor depth:-1676.660150 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 46.686535 meters # Minimum depth: 1662.654176 meters looking forward 100.000000 meters along route # Maximum depth: 1688.503080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1617.654176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741562; longitude = -122.708867; captureRadius = 10; duration = 46; initialDepth = 1617.654176; finalDepth = 1631.660150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.281279 # Actual altitude: 61.281279 # Commanded vehicle depth:1617.654176 # Seafloor depth:-1678.935455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 147.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.64; MB_Bottom_Detect_Filter_Max_Range = 147.08; MB_Bottom_Detect_Filter_Min_Depth = 30.64; MB_Bottom_Detect_Filter_Max_Depth = 147.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 123.313465 meters # Minimum depth: 1614.696865 meters looking forward 100.000000 meters along route # Maximum depth: 1660.269854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.696865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.741312; longitude = -122.708452; captureRadius = 10; duration = 123; initialDepth = 1569.696865; finalDepth = 1617.654176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.572989 # Actual altitude: 90.572989 # Commanded vehicle depth:1569.696865 # Seafloor depth:-1660.269854 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.29; MB_Bottom_Detect_Filter_Max_Range = 217.38; MB_Bottom_Detect_Filter_Min_Depth = 45.29; MB_Bottom_Detect_Filter_Max_Depth = 217.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 99.758954 meters # Minimum depth: 1588.040328 meters looking forward 100.000000 meters along route # Maximum depth: 1598.082245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.040328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.740651; longitude = -122.707355; captureRadius = 10; duration = 99; initialDepth = 1543.040328; finalDepth = 1569.696865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.572989 # Actual altitude: 90.572989 # Commanded vehicle depth:1543.040328 # Seafloor depth:-1598.082245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.29; MB_Bottom_Detect_Filter_Max_Range = 217.38; MB_Bottom_Detect_Filter_Min_Depth = 45.29; MB_Bottom_Detect_Filter_Max_Depth = 217.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.794718 meters # Minimum depth: 1588.136131 meters looking forward 100.000000 meters along route # Maximum depth: 1590.904649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.136131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739928; longitude = -122.708010; captureRadius = 10; duration = 110; initialDepth = 1543.136131; finalDepth = 1543.040328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.041917 # Actual altitude: 55.041917 # Commanded vehicle depth:1543.136131 # Seafloor depth:-1588.136131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 132.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.52; MB_Bottom_Detect_Filter_Max_Range = 132.10; MB_Bottom_Detect_Filter_Min_Depth = 27.52; MB_Bottom_Detect_Filter_Max_Depth = 132.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.756832 meters # Minimum depth: 1591.491394 meters looking forward 100.000000 meters along route # Maximum depth: 1602.906138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.491394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739124; longitude = -122.708738; captureRadius = 10; duration = 121; initialDepth = 1546.491394; finalDepth = 1543.136131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1546.491394 # Seafloor depth:-1591.491394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.757288 meters # Minimum depth: 1609.136993 meters looking forward 100.000000 meters along route # Maximum depth: 1632.737179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.136993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738241; longitude = -122.709538; captureRadius = 10; duration = 121; initialDepth = 1564.136993; finalDepth = 1546.491394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1564.136993 # Seafloor depth:-1609.136993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.757746 meters # Minimum depth: 1636.798872 meters looking forward 100.000000 meters along route # Maximum depth: 1673.299871 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1591.798872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737358; longitude = -122.710338; captureRadius = 10; duration = 121; initialDepth = 1591.798872; finalDepth = 1564.136993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1591.798872 # Seafloor depth:-1636.798872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 128.874031 meters # Minimum depth: 1675.322408 meters looking forward 100.000000 meters along route # Maximum depth: 1706.606982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.322408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736475; longitude = -122.711138; captureRadius = 10; duration = 128; initialDepth = 1630.322408; finalDepth = 1591.798872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1630.322408 # Seafloor depth:-1675.322408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 134.432780 meters # Minimum depth: 1706.474059 meters looking forward 100.000000 meters along route # Maximum depth: 1717.366755 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1661.474059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735540; longitude = -122.711984; captureRadius = 10; duration = 134; initialDepth = 1661.474059; finalDepth = 1630.322408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1661.474059 # Seafloor depth:-1706.474059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.969170 meters # Minimum depth: 1672.800352 meters looking forward 100.000000 meters along route # Maximum depth: 1703.069833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.800352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734565; longitude = -122.712867; captureRadius = 10; duration = 101; initialDepth = 1627.800352; finalDepth = 1661.474059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.269481 # Actual altitude: 75.269481 # Commanded vehicle depth:1627.800352 # Seafloor depth:-1703.069833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.63; MB_Bottom_Detect_Filter_Max_Range = 180.65; MB_Bottom_Detect_Filter_Min_Depth = 37.63; MB_Bottom_Detect_Filter_Max_Depth = 180.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.759575 meters # Minimum depth: 1643.747748 meters looking forward 100.000000 meters along route # Maximum depth: 1654.884775 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.747748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733825; longitude = -122.713537; captureRadius = 10; duration = 121; initialDepth = 1598.747748; finalDepth = 1627.800352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.269481 # Actual altitude: 75.269481 # Commanded vehicle depth:1598.747748 # Seafloor depth:-1654.884775 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.63; MB_Bottom_Detect_Filter_Max_Range = 180.65; MB_Bottom_Detect_Filter_Min_Depth = 37.63; MB_Bottom_Detect_Filter_Max_Depth = 180.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.760032 meters # Minimum depth: 1657.019408 meters looking forward 100.000000 meters along route # Maximum depth: 1708.732865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.019408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732942; longitude = -122.714337; captureRadius = 10; duration = 121; initialDepth = 1612.019408; finalDepth = 1598.747748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.137027 # Actual altitude: 56.137027 # Commanded vehicle depth:1612.019408 # Seafloor depth:-1657.019408 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.07; MB_Bottom_Detect_Filter_Max_Range = 134.73; MB_Bottom_Detect_Filter_Min_Depth = 28.07; MB_Bottom_Detect_Filter_Max_Depth = 134.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 125.030343 meters # Minimum depth: 1674.536811 meters looking forward 100.000000 meters along route # Maximum depth: 1710.264702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1629.536811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732059; longitude = -122.715137; captureRadius = 10; duration = 125; initialDepth = 1629.536811; finalDepth = 1612.019408; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.727891 # Actual altitude: 80.727891 # Commanded vehicle depth:1629.536811 # Seafloor depth:-1710.264702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 193.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.36; MB_Bottom_Detect_Filter_Max_Range = 193.75; MB_Bottom_Detect_Filter_Min_Depth = 40.36; MB_Bottom_Detect_Filter_Max_Depth = 193.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 134.435289 meters # Minimum depth: 1625.934840 meters looking forward 100.000000 meters along route # Maximum depth: 1673.304248 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.934840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731152; longitude = -122.715958; captureRadius = 10; duration = 134; initialDepth = 1580.934840; finalDepth = 1629.536811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.369408 # Actual altitude: 92.369408 # Commanded vehicle depth:1580.93484 # Seafloor depth:-1673.304248 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.18; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 46.18; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.817207 meters # Minimum depth: 1577.174242 meters looking forward 100.000000 meters along route # Maximum depth: 1613.812493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.174242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730177; longitude = -122.716841; captureRadius = 10; duration = 105; initialDepth = 1532.174242; finalDepth = 1580.934840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.369408 # Actual altitude: 92.369408 # Commanded vehicle depth:1532.174242 # Seafloor depth:-1613.812493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.18; MB_Bottom_Detect_Filter_Max_Range = 221.69; MB_Bottom_Detect_Filter_Min_Depth = 46.18; MB_Bottom_Detect_Filter_Max_Depth = 221.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.761861 meters # Minimum depth: 1491.937733 meters looking forward 100.000000 meters along route # Maximum depth: 1553.015453 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.937733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729410; longitude = -122.717536; captureRadius = 10; duration = 121; initialDepth = 1446.937733; finalDepth = 1532.174242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.07772 # Actual altitude: 100 # Commanded vehicle depth:1446.937733 # Seafloor depth:-1553.015453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.762318 meters # Minimum depth: 1414.012271 meters looking forward 100.000000 meters along route # Maximum depth: 1479.990433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.012271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728527; longitude = -122.718336; captureRadius = 10; duration = 121; initialDepth = 1369.012271; finalDepth = 1446.937733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.978162 # Actual altitude: 100 # Commanded vehicle depth:1369.012271 # Seafloor depth:-1479.990433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.762775 meters # Minimum depth: 1376.086343 meters looking forward 100.000000 meters along route # Maximum depth: 1407.705340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1331.086343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727644; longitude = -122.719136; captureRadius = 10; duration = 121; initialDepth = 1331.086343; finalDepth = 1369.012271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 110.978162 # Actual altitude: 100 # Commanded vehicle depth:1331.086343 # Seafloor depth:-1407.705340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 133.861534 meters # Minimum depth: 1365.543811 meters looking forward 100.000000 meters along route # Maximum depth: 1376.184309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1320.543811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726760; longitude = -122.719936; captureRadius = 10; duration = 133; initialDepth = 1320.543811; finalDepth = 1331.086343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.618997 # Actual altitude: 76.618997 # Commanded vehicle depth:1320.543811 # Seafloor depth:-1376.184309 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 183.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.31; MB_Bottom_Detect_Filter_Max_Range = 183.89; MB_Bottom_Detect_Filter_Min_Depth = 38.31; MB_Bottom_Detect_Filter_Max_Depth = 183.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.665388 meters # Minimum depth: 1361.860071 meters looking forward 100.000000 meters along route # Maximum depth: 1365.150622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1316.860071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725790; longitude = -122.720815; captureRadius = 10; duration = 109; initialDepth = 1316.860071; finalDepth = 1320.543811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.640498 # Actual altitude: 55.640498 # Commanded vehicle depth:1316.860071 # Seafloor depth:-1365.150622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 133.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.82; MB_Bottom_Detect_Filter_Max_Range = 133.54; MB_Bottom_Detect_Filter_Min_Depth = 27.82; MB_Bottom_Detect_Filter_Max_Depth = 133.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.764147 meters # Minimum depth: 1356.295322 meters looking forward 100.000000 meters along route # Maximum depth: 1372.282211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1311.295322 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724994; longitude = -122.721536; captureRadius = 10; duration = 121; initialDepth = 1311.295322; finalDepth = 1316.860071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.88552 # Actual altitude: 56.88552 # Commanded vehicle depth:1311.295322 # Seafloor depth:-1368.180842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.44; MB_Bottom_Detect_Filter_Max_Range = 136.53; MB_Bottom_Detect_Filter_Min_Depth = 28.44; MB_Bottom_Detect_Filter_Max_Depth = 136.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.764605 meters # Minimum depth: 1307.729202 meters looking forward 100.000000 meters along route # Maximum depth: 1346.433824 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1262.729202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724111; longitude = -122.722335; captureRadius = 10; duration = 121; initialDepth = 1262.729202; finalDepth = 1311.295322; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.704622 # Actual altitude: 83.704622 # Commanded vehicle depth:1262.729202 # Seafloor depth:-1346.433824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.85; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 41.85; MB_Bottom_Detect_Filter_Max_Depth = 200.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.765062 meters # Minimum depth: 1306.083996 meters looking forward 100.000000 meters along route # Maximum depth: 1318.524928 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1261.083996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723228; longitude = -122.723135; captureRadius = 10; duration = 121; initialDepth = 1261.083996; finalDepth = 1262.729202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.704622 # Actual altitude: 83.704622 # Commanded vehicle depth:1261.083996 # Seafloor depth:-1306.291932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.85; MB_Bottom_Detect_Filter_Max_Range = 200.89; MB_Bottom_Detect_Filter_Min_Depth = 41.85; MB_Bottom_Detect_Filter_Max_Depth = 200.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 130.017781 meters # Minimum depth: 1319.641768 meters looking forward 100.000000 meters along route # Maximum depth: 1365.467144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1274.641768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722345; longitude = -122.723935; captureRadius = 10; duration = 130; initialDepth = 1274.641768; finalDepth = 1261.083996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.207936 # Actual altitude: 50 # Commanded vehicle depth:1274.641768 # Seafloor depth:-1319.641768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 134.440862 meters # Minimum depth: 1368.313017 meters looking forward 100.000000 meters along route # Maximum depth: 1389.279044 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1323.313017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721402; longitude = -122.724789; captureRadius = 10; duration = 134; initialDepth = 1323.313017; finalDepth = 1274.641768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1323.313017 # Seafloor depth:-1368.313017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.839285 meters # Minimum depth: 1398.413680 meters looking forward 100.000000 meters along route # Maximum depth: 1426.303760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1353.413680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720427; longitude = -122.725672; captureRadius = 10; duration = 100; initialDepth = 1353.413680; finalDepth = 1323.313017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1353.41368 # Seafloor depth:-1398.413680 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.766891 meters # Minimum depth: 1438.614106 meters looking forward 100.000000 meters along route # Maximum depth: 1484.432785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1393.614106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719695; longitude = -122.726335; captureRadius = 10; duration = 121; initialDepth = 1393.614106; finalDepth = 1353.413680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1393.614106 # Seafloor depth:-1438.614106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.767349 meters # Minimum depth: 1493.855304 meters looking forward 100.000000 meters along route # Maximum depth: 1520.789727 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1448.855304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718812; longitude = -122.727135; captureRadius = 10; duration = 121; initialDepth = 1448.855304; finalDepth = 1393.614106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1448.855304 # Seafloor depth:-1493.855304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 126.173885 meters # Minimum depth: 1523.056751 meters looking forward 100.000000 meters along route # Maximum depth: 1567.171232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.056751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.727934; captureRadius = 10; duration = 126; initialDepth = 1478.056751; finalDepth = 1448.855304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1478.056751 # Seafloor depth:-1523.056751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 134.443371 meters # Minimum depth: 1568.431179 meters looking forward 100.000000 meters along route # Maximum depth: 1601.113907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1523.431179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717014; longitude = -122.728763; captureRadius = 10; duration = 134; initialDepth = 1523.431179; finalDepth = 1478.056751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1523.431179 # Seafloor depth:-1568.431179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.687533 meters # Minimum depth: 1608.307765 meters looking forward 100.000000 meters along route # Maximum depth: 1633.268445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.307765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716039; longitude = -122.729646; captureRadius = 10; duration = 104; initialDepth = 1563.307765; finalDepth = 1523.431179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1563.307765 # Seafloor depth:-1608.307765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.769178 meters # Minimum depth: 1649.218420 meters looking forward 100.000000 meters along route # Maximum depth: 1667.870822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.218420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.730334; captureRadius = 10; duration = 121; initialDepth = 1604.218420; finalDepth = 1563.307765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1604.21842 # Seafloor depth:-1649.218420 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.769635 meters # Minimum depth: 1668.066067 meters looking forward 100.000000 meters along route # Maximum depth: 1683.045064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.066067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714397; longitude = -122.731134; captureRadius = 10; duration = 121; initialDepth = 1623.066067; finalDepth = 1604.218420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1623.066067 # Seafloor depth:-1668.066067 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 134.524967 meters # Minimum depth: 1685.978063 meters looking forward 100.000000 meters along route # Maximum depth: 1710.621968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.978063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.731934; captureRadius = 10; duration = 134; initialDepth = 1640.978063; finalDepth = 1623.066067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1640.978063 # Seafloor depth:-1685.978063 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 65.175951 meters # Minimum depth: 1667.236759 meters looking forward 100.000000 meters along route # Maximum depth: 1706.043852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.236759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712538; longitude = -122.732817; captureRadius = 10; duration = 65; initialDepth = 1622.236759; finalDepth = 1640.978063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.8381010000001 # Actual altitude: 78.8381010000001 # Commanded vehicle depth:1622.236759 # Seafloor depth:-1701.074860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.42; MB_Bottom_Detect_Filter_Max_Range = 189.21; MB_Bottom_Detect_Filter_Min_Depth = 39.42; MB_Bottom_Detect_Filter_Max_Depth = 189.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 104.824049 meters # Minimum depth: 1602.758937 meters looking forward 100.000000 meters along route # Maximum depth: 1664.134694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1557.758937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.732238; captureRadius = 10; duration = 104; initialDepth = 1557.758937; finalDepth = 1622.236759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.375757 # Actual altitude: 100 # Commanded vehicle depth:1557.758937 # Seafloor depth:-1664.134694 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 77.409624 meters # Minimum depth: 1594.297516 meters looking forward 100.000000 meters along route # Maximum depth: 1618.143859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1549.297516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711628; longitude = -122.731305; captureRadius = 10; duration = 77; initialDepth = 1549.297516; finalDepth = 1557.758937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.375757 # Actual altitude: 100 # Commanded vehicle depth:1549.297516 # Seafloor depth:-1594.297516 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.771222 meters # Minimum depth: 1577.470334 meters looking forward 100.000000 meters along route # Maximum depth: 1621.633418 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.470334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.730797; captureRadius = 10; duration = 121; initialDepth = 1532.470334; finalDepth = 1549.297516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1630839999998 # Actual altitude: 89.1630839999998 # Commanded vehicle depth:1532.470334 # Seafloor depth:-1621.633418 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.58; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 44.58; MB_Bottom_Detect_Filter_Max_Depth = 213.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.770764 meters # Minimum depth: 1560.641862 meters looking forward 100.000000 meters along route # Maximum depth: 1574.201823 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.641862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.729997; captureRadius = 10; duration = 121; initialDepth = 1515.641862; finalDepth = 1532.470334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.1630839999998 # Actual altitude: 89.1630839999998 # Commanded vehicle depth:1515.641862 # Seafloor depth:-1574.201823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 44.58; MB_Bottom_Detect_Filter_Max_Range = 213.99; MB_Bottom_Detect_Filter_Min_Depth = 44.58; MB_Bottom_Detect_Filter_Max_Depth = 213.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 133.288089 meters # Minimum depth: 1559.431213 meters looking forward 100.000000 meters along route # Maximum depth: 1574.958951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.431213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.729197; captureRadius = 10; duration = 133; initialDepth = 1514.431213; finalDepth = 1515.641862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5599610000002 # Actual altitude: 58.5599610000002 # Commanded vehicle depth:1514.431213 # Seafloor depth:-1562.547912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.28; MB_Bottom_Detect_Filter_Max_Range = 140.54; MB_Bottom_Detect_Filter_Min_Depth = 29.28; MB_Bottom_Detect_Filter_Max_Depth = 140.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.252067 meters # Minimum depth: 1515.515227 meters looking forward 100.000000 meters along route # Maximum depth: 1552.274481 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.515227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714922; longitude = -122.728322; captureRadius = 10; duration = 110; initialDepth = 1470.515227; finalDepth = 1514.431213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7592539999998 # Actual altitude: 81.7592539999998 # Commanded vehicle depth:1470.515227 # Seafloor depth:-1552.274481 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 196.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.88; MB_Bottom_Detect_Filter_Max_Range = 196.22; MB_Bottom_Detect_Filter_Min_Depth = 40.88; MB_Bottom_Detect_Filter_Max_Depth = 196.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.769391 meters # Minimum depth: 1459.956244 meters looking forward 100.000000 meters along route # Maximum depth: 1498.990546 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1414.956244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.727597; captureRadius = 10; duration = 121; initialDepth = 1414.956244; finalDepth = 1470.515227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.034302 # Actual altitude: 84.034302 # Commanded vehicle depth:1414.956244 # Seafloor depth:-1498.990546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.02; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 42.02; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.768935 meters # Minimum depth: 1427.047822 meters looking forward 100.000000 meters along route # Maximum depth: 1445.754227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1382.047822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716605; longitude = -122.726798; captureRadius = 10; duration = 121; initialDepth = 1382.047822; finalDepth = 1414.956244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.034302 # Actual altitude: 84.034302 # Commanded vehicle depth:1382.047822 # Seafloor depth:-1445.754227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.02; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 42.02; MB_Bottom_Detect_Filter_Max_Depth = 201.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.768477 meters # Minimum depth: 1399.210123 meters looking forward 100.000000 meters along route # Maximum depth: 1422.433739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.210123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.725998; captureRadius = 10; duration = 121; initialDepth = 1354.210123; finalDepth = 1382.047822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.223616 # Actual altitude: 68.223616 # Commanded vehicle depth:1354.210123 # Seafloor depth:-1422.433739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 163.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.11; MB_Bottom_Detect_Filter_Max_Range = 163.74; MB_Bottom_Detect_Filter_Min_Depth = 34.11; MB_Bottom_Detect_Filter_Max_Depth = 163.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 129.426808 meters # Minimum depth: 1351.253656 meters looking forward 100.000000 meters along route # Maximum depth: 1398.199216 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1306.253656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.725198; captureRadius = 10; duration = 129; initialDepth = 1306.253656; finalDepth = 1354.210123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9455599999999 # Actual altitude: 91.9455599999999 # Commanded vehicle depth:1306.253656 # Seafloor depth:-1398.199216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.97; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 45.97; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 134.439728 meters # Minimum depth: 1348.402020 meters looking forward 100.000000 meters along route # Maximum depth: 1349.670774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1303.402020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719309; longitude = -122.724348; captureRadius = 10; duration = 134; initialDepth = 1303.402020; finalDepth = 1306.253656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9455599999999 # Actual altitude: 91.9455599999999 # Commanded vehicle depth:1303.40202 # Seafloor depth:-1349.670774 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.97; MB_Bottom_Detect_Filter_Max_Range = 220.67; MB_Bottom_Detect_Filter_Min_Depth = 45.97; MB_Bottom_Detect_Filter_Max_Depth = 220.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 101.436152 meters # Minimum depth: 1340.369781 meters looking forward 100.000000 meters along route # Maximum depth: 1345.864129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1295.369781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720285; longitude = -122.723465; captureRadius = 10; duration = 101; initialDepth = 1295.369781; finalDepth = 1303.402020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4943479999999 # Actual altitude: 50.4943479999999 # Commanded vehicle depth:1295.369781 # Seafloor depth:-1345.864129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 121.19; MB_Bottom_Detect_Filter_Min_Depth = 25.25; MB_Bottom_Detect_Filter_Max_Depth = 121.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.766648 meters # Minimum depth: 1334.337822 meters looking forward 100.000000 meters along route # Maximum depth: 1354.544018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1289.337822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721020; longitude = -122.722798; captureRadius = 10; duration = 121; initialDepth = 1289.337822; finalDepth = 1295.369781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4943479999999 # Actual altitude: 50.4943479999999 # Commanded vehicle depth:1289.337822 # Seafloor depth:-1334.337822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.25; MB_Bottom_Detect_Filter_Max_Range = 121.19; MB_Bottom_Detect_Filter_Min_Depth = 25.25; MB_Bottom_Detect_Filter_Max_Depth = 121.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.766191 meters # Minimum depth: 1341.597906 meters looking forward 100.000000 meters along route # Maximum depth: 1353.384632 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1296.597906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721903; longitude = -122.721998; captureRadius = 10; duration = 121; initialDepth = 1296.597906; finalDepth = 1289.337822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.786726 # Actual altitude: 56.786726 # Commanded vehicle depth:1296.597906 # Seafloor depth:-1353.384632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 136.29; MB_Bottom_Detect_Filter_Min_Depth = 28.39; MB_Bottom_Detect_Filter_Max_Depth = 136.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 125.565670 meters # Minimum depth: 1355.300870 meters looking forward 100.000000 meters along route # Maximum depth: 1393.342007 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1310.300870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.721199; captureRadius = 10; duration = 125; initialDepth = 1310.300870; finalDepth = 1296.597906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.786726 # Actual altitude: 56.786726 # Commanded vehicle depth:1310.30087 # Seafloor depth:-1355.300870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.39; MB_Bottom_Detect_Filter_Max_Range = 136.29; MB_Bottom_Detect_Filter_Min_Depth = 28.39; MB_Bottom_Detect_Filter_Max_Depth = 136.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 134.437220 meters # Minimum depth: 1366.272107 meters looking forward 100.000000 meters along route # Maximum depth: 1391.680669 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.272107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723697; longitude = -122.720374; captureRadius = 10; duration = 134; initialDepth = 1321.272107; finalDepth = 1310.300870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4085620000001 # Actual altitude: 70.4085620000001 # Commanded vehicle depth:1321.272107 # Seafloor depth:-1391.680669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.20; MB_Bottom_Detect_Filter_Max_Range = 168.98; MB_Bottom_Detect_Filter_Min_Depth = 35.20; MB_Bottom_Detect_Filter_Max_Depth = 168.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.292939 meters # Minimum depth: 1359.737616 meters looking forward 100.000000 meters along route # Maximum depth: 1371.545033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1314.737616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724672; longitude = -122.719491; captureRadius = 10; duration = 105; initialDepth = 1314.737616; finalDepth = 1321.272107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4085620000001 # Actual altitude: 70.4085620000001 # Commanded vehicle depth:1314.737616 # Seafloor depth:-1359.737616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 168.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.20; MB_Bottom_Detect_Filter_Max_Range = 168.98; MB_Bottom_Detect_Filter_Min_Depth = 35.20; MB_Bottom_Detect_Filter_Max_Depth = 168.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.764362 meters # Minimum depth: 1382.283151 meters looking forward 100.000000 meters along route # Maximum depth: 1410.170419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1337.283151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725436; longitude = -122.718799; captureRadius = 10; duration = 121; initialDepth = 1337.283151; finalDepth = 1314.737616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1337.283151 # Seafloor depth:-1382.283151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.763904 meters # Minimum depth: 1414.610312 meters looking forward 100.000000 meters along route # Maximum depth: 1423.262414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1369.610312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.717999; captureRadius = 10; duration = 121; initialDepth = 1369.610312; finalDepth = 1337.283151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1369.610312 # Seafloor depth:-1414.610312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.763448 meters # Minimum depth: 1422.302022 meters looking forward 100.000000 meters along route # Maximum depth: 1480.713358 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1377.302022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727202; longitude = -122.717199; captureRadius = 10; duration = 121; initialDepth = 1377.302022; finalDepth = 1369.610312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1377.302022 # Seafloor depth:-1422.302022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 134.375941 meters # Minimum depth: 1480.753771 meters looking forward 100.000000 meters along route # Maximum depth: 1586.840726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.753771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.716399; captureRadius = 10; duration = 134; initialDepth = 1435.753771; finalDepth = 1377.302022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1435.753771 # Seafloor depth:-1480.753771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.149582 meters # Minimum depth: 1593.633263 meters looking forward 100.000000 meters along route # Maximum depth: 1619.362626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1548.633263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729060; longitude = -122.715517; captureRadius = 10; duration = 109; initialDepth = 1548.633263; finalDepth = 1435.753771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1548.633263 # Seafloor depth:-1593.633263 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.762075 meters # Minimum depth: 1617.837423 meters looking forward 100.000000 meters along route # Maximum depth: 1627.938096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.837423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729851; longitude = -122.714800; captureRadius = 10; duration = 121; initialDepth = 1572.837423; finalDepth = 1548.633263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8644570000001 # Actual altitude: 51.8644570000001 # Commanded vehicle depth:1572.837423 # Seafloor depth:-1624.701880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 124.47; MB_Bottom_Detect_Filter_Min_Depth = 25.93; MB_Bottom_Detect_Filter_Max_Depth = 124.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.761619 meters # Minimum depth: 1613.929634 meters looking forward 100.000000 meters along route # Maximum depth: 1630.237235 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.929634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730734; longitude = -122.714000; captureRadius = 10; duration = 121; initialDepth = 1568.929634; finalDepth = 1572.837423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8644570000001 # Actual altitude: 51.8644570000001 # Commanded vehicle depth:1568.929634 # Seafloor depth:-1613.929634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 124.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.93; MB_Bottom_Detect_Filter_Max_Range = 124.47; MB_Bottom_Detect_Filter_Min_Depth = 25.93; MB_Bottom_Detect_Filter_Max_Depth = 124.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.761161 meters # Minimum depth: 1624.280931 meters looking forward 100.000000 meters along route # Maximum depth: 1632.391692 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.280931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731618; longitude = -122.713200; captureRadius = 10; duration = 121; initialDepth = 1579.280931; finalDepth = 1568.929634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1107609999999 # Actual altitude: 53.1107609999999 # Commanded vehicle depth:1579.280931 # Seafloor depth:-1632.391692 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 127.47; MB_Bottom_Detect_Filter_Min_Depth = 26.56; MB_Bottom_Detect_Filter_Max_Depth = 127.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 130.514870 meters # Minimum depth: 1625.104429 meters looking forward 100.000000 meters along route # Maximum depth: 1632.314906 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.104429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.712400; captureRadius = 10; duration = 130; initialDepth = 1580.104429; finalDepth = 1579.280931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1107609999999 # Actual altitude: 53.1107609999999 # Commanded vehicle depth:1580.104429 # Seafloor depth:-1625.104429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 127.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.56; MB_Bottom_Detect_Filter_Max_Range = 127.47; MB_Bottom_Detect_Filter_Min_Depth = 26.56; MB_Bottom_Detect_Filter_Max_Depth = 127.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 134.431648 meters # Minimum depth: 1628.034925 meters looking forward 100.000000 meters along route # Maximum depth: 1634.181482 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.034925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733447; longitude = -122.711543; captureRadius = 10; duration = 134; initialDepth = 1583.034925; finalDepth = 1580.104429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.146557 # Actual altitude: 51.146557 # Commanded vehicle depth:1583.034925 # Seafloor depth:-1634.181482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.57; MB_Bottom_Detect_Filter_Max_Range = 122.75; MB_Bottom_Detect_Filter_Min_Depth = 25.57; MB_Bottom_Detect_Filter_Max_Depth = 122.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 100.334223 meters # Minimum depth: 1609.524100 meters looking forward 100.000000 meters along route # Maximum depth: 1629.556369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.524100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734422; longitude = -122.710659; captureRadius = 10; duration = 100; initialDepth = 1564.524100; finalDepth = 1583.034925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0322689999998 # Actual altitude: 65.0322689999998 # Commanded vehicle depth:1564.5241 # Seafloor depth:-1629.556369 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 156.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.52; MB_Bottom_Detect_Filter_Max_Range = 156.08; MB_Bottom_Detect_Filter_Min_Depth = 32.52; MB_Bottom_Detect_Filter_Max_Depth = 156.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.759332 meters # Minimum depth: 1574.732731 meters looking forward 100.000000 meters along route # Maximum depth: 1604.807200 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.732731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735150; longitude = -122.710000; captureRadius = 10; duration = 121; initialDepth = 1529.732731; finalDepth = 1564.524100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.0744689999999 # Actual altitude: 75.0744689999999 # Commanded vehicle depth:1529.732731 # Seafloor depth:-1604.807200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.54; MB_Bottom_Detect_Filter_Max_Range = 180.18; MB_Bottom_Detect_Filter_Min_Depth = 37.54; MB_Bottom_Detect_Filter_Max_Depth = 180.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 121.758876 meters # Minimum depth: 1545.926379 meters looking forward 100.000000 meters along route # Maximum depth: 1566.727597 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1500.926379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736033; longitude = -122.709200; captureRadius = 10; duration = 121; initialDepth = 1500.926379; finalDepth = 1529.732731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.0744689999999 # Actual altitude: 75.0744689999999 # Commanded vehicle depth:1500.926379 # Seafloor depth:-1566.727597 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 180.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.54; MB_Bottom_Detect_Filter_Max_Range = 180.18; MB_Bottom_Detect_Filter_Min_Depth = 37.54; MB_Bottom_Detect_Filter_Max_Depth = 180.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 126.653945 meters # Minimum depth: 1506.337165 meters looking forward 100.000000 meters along route # Maximum depth: 1544.760077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.337165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.708401; captureRadius = 10; duration = 126; initialDepth = 1461.337165; finalDepth = 1500.926379; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.422912 # Actual altitude: 83.422912 # Commanded vehicle depth:1461.337165 # Seafloor depth:-1544.760077 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.71; MB_Bottom_Detect_Filter_Max_Range = 200.21; MB_Bottom_Detect_Filter_Min_Depth = 41.71; MB_Bottom_Detect_Filter_Max_Depth = 200.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 134.429139 meters # Minimum depth: 1491.751645 meters looking forward 100.000000 meters along route # Maximum depth: 1505.152770 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.751645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737835; longitude = -122.707569; captureRadius = 10; duration = 134; initialDepth = 1446.751645; finalDepth = 1461.337165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.422912 # Actual altitude: 83.422912 # Commanded vehicle depth:1446.751645 # Seafloor depth:-1505.152770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.71; MB_Bottom_Detect_Filter_Max_Range = 200.21; MB_Bottom_Detect_Filter_Min_Depth = 41.71; MB_Bottom_Detect_Filter_Max_Depth = 200.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 128.298341 meters # Minimum depth: 1491.383660 meters looking forward 100.000000 meters along route # Maximum depth: 1509.411460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.383660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738810; longitude = -122.706685; captureRadius = 10; duration = 128; initialDepth = 1446.383660; finalDepth = 1446.751645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4011249999999 # Actual altitude: 58.4011249999999 # Commanded vehicle depth:1446.38366 # Seafloor depth:-1491.383660 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.20; MB_Bottom_Detect_Filter_Max_Range = 140.16; MB_Bottom_Detect_Filter_Min_Depth = 29.20; MB_Bottom_Detect_Filter_Max_Depth = 140.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 54.169152 meters # Minimum depth: 1504.090035 meters looking forward 100.000000 meters along route # Maximum depth: 1519.317383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1459.090035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739740; longitude = -122.705843; captureRadius = 10; duration = 54; initialDepth = 1459.090035; finalDepth = 1446.383660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2273480000001 # Actual altitude: 60.2273480000001 # Commanded vehicle depth:1459.090035 # Seafloor depth:-1519.317383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 144.55; MB_Bottom_Detect_Filter_Min_Depth = 30.11; MB_Bottom_Detect_Filter_Max_Depth = 144.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 115.830848 meters # Minimum depth: 1503.075045 meters looking forward 100.000000 meters along route # Maximum depth: 1514.210994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.075045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.739450; longitude = -122.705361; captureRadius = 10; duration = 115; initialDepth = 1458.075045; finalDepth = 1459.090035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.2273480000001 # Actual altitude: 60.2273480000001 # Commanded vehicle depth:1458.075045 # Seafloor depth:-1503.075045 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.11; MB_Bottom_Detect_Filter_Max_Range = 144.55; MB_Bottom_Detect_Filter_Min_Depth = 30.11; MB_Bottom_Detect_Filter_Max_Depth = 144.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 89.618176 meters # Minimum depth: 1472.031662 meters looking forward 100.000000 meters along route # Maximum depth: 1520.640106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.031662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738830; longitude = -122.704330; captureRadius = 10; duration = 89; initialDepth = 1427.031662; finalDepth = 1458.075045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.608444 # Actual altitude: 93.608444 # Commanded vehicle depth:1427.031662 # Seafloor depth:-1520.640106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.80; MB_Bottom_Detect_Filter_Max_Range = 224.66; MB_Bottom_Detect_Filter_Min_Depth = 46.80; MB_Bottom_Detect_Filter_Max_Depth = 224.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 134.427728 meters # Minimum depth: 1464.600260 meters looking forward 100.000000 meters along route # Maximum depth: 1470.412227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1419.600260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.738180; longitude = -122.704919; captureRadius = 10; duration = 134; initialDepth = 1419.600260; finalDepth = 1427.031662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.608444 # Actual altitude: 93.608444 # Commanded vehicle depth:1419.60026 # Seafloor depth:-1470.412227 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.80; MB_Bottom_Detect_Filter_Max_Range = 224.66; MB_Bottom_Detect_Filter_Min_Depth = 46.80; MB_Bottom_Detect_Filter_Max_Depth = 224.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 100.645209 meters # Minimum depth: 1466.825405 meters looking forward 100.000000 meters along route # Maximum depth: 1471.963790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1421.825405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737205; longitude = -122.705802; captureRadius = 10; duration = 100; initialDepth = 1421.825405; finalDepth = 1419.600260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8119670000001 # Actual altitude: 50.8119670000001 # Commanded vehicle depth:1421.825405 # Seafloor depth:-1466.825405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.41; MB_Bottom_Detect_Filter_Max_Range = 121.95; MB_Bottom_Detect_Filter_Min_Depth = 25.41; MB_Bottom_Detect_Filter_Max_Depth = 121.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.760005 meters # Minimum depth: 1477.011666 meters looking forward 100.000000 meters along route # Maximum depth: 1503.769009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.011666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736475; longitude = -122.706463; captureRadius = 10; duration = 121; initialDepth = 1432.011666; finalDepth = 1421.825405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1432.011666 # Seafloor depth:-1477.011666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.760462 meters # Minimum depth: 1506.128514 meters looking forward 100.000000 meters along route # Maximum depth: 1529.544414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.128514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735592; longitude = -122.707263; captureRadius = 10; duration = 121; initialDepth = 1461.128514; finalDepth = 1432.011666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1461.128514 # Seafloor depth:-1506.128514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 126.335760 meters # Minimum depth: 1532.615790 meters looking forward 100.000000 meters along route # Maximum depth: 1565.636743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.615790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734708; longitude = -122.708063; captureRadius = 10; duration = 126; initialDepth = 1487.615790; finalDepth = 1461.128514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1487.61579 # Seafloor depth:-1532.615790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 134.430236 meters # Minimum depth: 1566.992430 meters looking forward 100.000000 meters along route # Maximum depth: 1585.588226 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.992430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733792; longitude = -122.708893; captureRadius = 10; duration = 134; initialDepth = 1521.992430; finalDepth = 1487.615790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1521.99243 # Seafloor depth:-1566.992430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.518133 meters # Minimum depth: 1586.933714 meters looking forward 100.000000 meters along route # Maximum depth: 1590.096549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.933714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732817; longitude = -122.709776; captureRadius = 10; duration = 104; initialDepth = 1541.933714; finalDepth = 1521.992430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3952469999999 # Actual altitude: 50 # Commanded vehicle depth:1541.933714 # Seafloor depth:-1587.328961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.762291 meters # Minimum depth: 1543.505207 meters looking forward 100.000000 meters along route # Maximum depth: 1565.927313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.505207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732059; longitude = -122.710463; captureRadius = 10; duration = 121; initialDepth = 1498.505207; finalDepth = 1541.933714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.422106 # Actual altitude: 67.422106 # Commanded vehicle depth:1498.505207 # Seafloor depth:-1565.927313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 161.81; MB_Bottom_Detect_Filter_Min_Depth = 33.71; MB_Bottom_Detect_Filter_Max_Depth = 161.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.762748 meters # Minimum depth: 1521.332774 meters looking forward 100.000000 meters along route # Maximum depth: 1536.421475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1476.332774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731176; longitude = -122.711263; captureRadius = 10; duration = 121; initialDepth = 1476.332774; finalDepth = 1498.505207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.422106 # Actual altitude: 67.422106 # Commanded vehicle depth:1476.332774 # Seafloor depth:-1536.421475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 161.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.71; MB_Bottom_Detect_Filter_Max_Range = 161.81; MB_Bottom_Detect_Filter_Min_Depth = 33.71; MB_Bottom_Detect_Filter_Max_Depth = 161.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 122.467040 meters # Minimum depth: 1523.563630 meters looking forward 100.000000 meters along route # Maximum depth: 1544.161976 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1478.563630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730293; longitude = -122.712063; captureRadius = 10; duration = 122; initialDepth = 1478.563630; finalDepth = 1476.332774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.0887010000001 # Actual altitude: 60.0887010000001 # Commanded vehicle depth:1478.56363 # Seafloor depth:-1523.563630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 144.21; MB_Bottom_Detect_Filter_Min_Depth = 30.04; MB_Bottom_Detect_Filter_Max_Depth = 144.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 134.432743 meters # Minimum depth: 1544.562748 meters looking forward 100.000000 meters along route # Maximum depth: 1590.945561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.562748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729405; longitude = -122.712867; captureRadius = 10; duration = 134; initialDepth = 1499.562748; finalDepth = 1478.563630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1499.562748 # Seafloor depth:-1544.562748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 108.391203 meters # Minimum depth: 1589.095417 meters looking forward 100.000000 meters along route # Maximum depth: 1593.404854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.095417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728430; longitude = -122.713750; captureRadius = 10; duration = 108; initialDepth = 1544.095417; finalDepth = 1499.562748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3094369999999 # Actual altitude: 50 # Commanded vehicle depth:1544.095417 # Seafloor depth:-1593.404854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.764577 meters # Minimum depth: 1548.431916 meters looking forward 100.000000 meters along route # Maximum depth: 1581.672644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1503.431916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727644; longitude = -122.714462; captureRadius = 10; duration = 121; initialDepth = 1503.431916; finalDepth = 1544.095417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.240728 # Actual altitude: 78.240728 # Commanded vehicle depth:1503.431916 # Seafloor depth:-1581.672644 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 187.78; MB_Bottom_Detect_Filter_Min_Depth = 39.12; MB_Bottom_Detect_Filter_Max_Depth = 187.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.765034 meters # Minimum depth: 1527.621811 meters looking forward 100.000000 meters along route # Maximum depth: 1541.511659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.621811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726760; longitude = -122.715262; captureRadius = 10; duration = 121; initialDepth = 1482.621811; finalDepth = 1503.431916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.240728 # Actual altitude: 78.240728 # Commanded vehicle depth:1482.621811 # Seafloor depth:-1541.511659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.12; MB_Bottom_Detect_Filter_Max_Range = 187.78; MB_Bottom_Detect_Filter_Min_Depth = 39.12; MB_Bottom_Detect_Filter_Max_Depth = 187.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.765491 meters # Minimum depth: 1491.810744 meters looking forward 100.000000 meters along route # Maximum depth: 1525.036010 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1446.810744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725877; longitude = -122.716062; captureRadius = 10; duration = 121; initialDepth = 1446.810744; finalDepth = 1482.621811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2252659999999 # Actual altitude: 78.2252659999999 # Commanded vehicle depth:1446.810744 # Seafloor depth:-1525.036010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.11; MB_Bottom_Detect_Filter_Max_Range = 187.74; MB_Bottom_Detect_Filter_Min_Depth = 39.11; MB_Bottom_Detect_Filter_Max_Depth = 187.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 131.267934 meters # Minimum depth: 1463.205954 meters looking forward 100.000000 meters along route # Maximum depth: 1490.880879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1418.205954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724994; longitude = -122.716862; captureRadius = 10; duration = 131; initialDepth = 1418.205954; finalDepth = 1446.810744; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.2252659999999 # Actual altitude: 78.2252659999999 # Commanded vehicle depth:1418.205954 # Seafloor depth:-1490.880879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 187.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.11; MB_Bottom_Detect_Filter_Max_Range = 187.74; MB_Bottom_Detect_Filter_Min_Depth = 39.11; MB_Bottom_Detect_Filter_Max_Depth = 187.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 112.264419 meters # Minimum depth: 1458.850680 meters looking forward 100.000000 meters along route # Maximum depth: 1462.136003 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.850680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724042; longitude = -122.717724; captureRadius = 10; duration = 112; initialDepth = 1413.850680; finalDepth = 1418.205954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.674925 # Actual altitude: 72.674925 # Commanded vehicle depth:1413.85068 # Seafloor depth:-1462.136003 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 174.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.34; MB_Bottom_Detect_Filter_Max_Range = 174.42; MB_Bottom_Detect_Filter_Min_Depth = 36.34; MB_Bottom_Detect_Filter_Max_Depth = 174.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.766863 meters # Minimum depth: 1454.314537 meters looking forward 100.000000 meters along route # Maximum depth: 1463.707644 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1409.314537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723228; longitude = -122.718462; captureRadius = 10; duration = 121; initialDepth = 1409.314537; finalDepth = 1413.850680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3707790000001 # Actual altitude: 50.3707790000001 # Commanded vehicle depth:1409.314537 # Seafloor depth:-1459.685316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 120.89; MB_Bottom_Detect_Filter_Min_Depth = 25.19; MB_Bottom_Detect_Filter_Max_Depth = 120.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.767320 meters # Minimum depth: 1405.398499 meters looking forward 100.000000 meters along route # Maximum depth: 1443.457022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1360.398499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722345; longitude = -122.719262; captureRadius = 10; duration = 121; initialDepth = 1360.398499; finalDepth = 1409.314537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0585230000002 # Actual altitude: 83.0585230000002 # Commanded vehicle depth:1360.398499 # Seafloor depth:-1443.457022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.53; MB_Bottom_Detect_Filter_Max_Range = 199.34; MB_Bottom_Detect_Filter_Min_Depth = 41.53; MB_Bottom_Detect_Filter_Max_Depth = 199.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.767777 meters # Minimum depth: 1404.119578 meters looking forward 100.000000 meters along route # Maximum depth: 1419.957328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.119578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721462; longitude = -122.720062; captureRadius = 10; duration = 121; initialDepth = 1359.119578; finalDepth = 1360.398499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0585230000002 # Actual altitude: 83.0585230000002 # Commanded vehicle depth:1359.119578 # Seafloor depth:-1404.119578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 199.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.53; MB_Bottom_Detect_Filter_Max_Range = 199.34; MB_Bottom_Detect_Filter_Min_Depth = 41.53; MB_Bottom_Detect_Filter_Max_Depth = 199.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 127.399147 meters # Minimum depth: 1403.565717 meters looking forward 100.000000 meters along route # Maximum depth: 1417.949983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1358.565717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720579; longitude = -122.720861; captureRadius = 10; duration = 127; initialDepth = 1358.565717; finalDepth = 1359.119578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.384266 # Actual altitude: 59.384266 # Commanded vehicle depth:1358.565717 # Seafloor depth:-1417.949983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.69; MB_Bottom_Detect_Filter_Max_Range = 142.52; MB_Bottom_Detect_Filter_Min_Depth = 29.69; MB_Bottom_Detect_Filter_Max_Depth = 142.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 134.438316 meters # Minimum depth: 1386.967116 meters looking forward 100.000000 meters along route # Maximum depth: 1402.051852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1341.967116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719655; longitude = -122.721698; captureRadius = 10; duration = 134; initialDepth = 1341.967116; finalDepth = 1358.565717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.084736 # Actual altitude: 60.084736 # Commanded vehicle depth:1341.967116 # Seafloor depth:-1402.051852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 144.20; MB_Bottom_Detect_Filter_Min_Depth = 30.04; MB_Bottom_Detect_Filter_Max_Depth = 144.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.468613 meters # Minimum depth: 1370.897092 meters looking forward 100.000000 meters along route # Maximum depth: 1383.127396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1325.897092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718680; longitude = -122.722581; captureRadius = 10; duration = 103; initialDepth = 1325.897092; finalDepth = 1341.967116; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.084736 # Actual altitude: 60.084736 # Commanded vehicle depth:1325.897092 # Seafloor depth:-1383.127396 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 144.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.04; MB_Bottom_Detect_Filter_Max_Range = 144.20; MB_Bottom_Detect_Filter_Min_Depth = 30.04; MB_Bottom_Detect_Filter_Max_Depth = 144.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.769606 meters # Minimum depth: 1366.093223 meters looking forward 100.000000 meters along route # Maximum depth: 1391.933369 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1321.093223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.723261; captureRadius = 10; duration = 121; initialDepth = 1321.093223; finalDepth = 1325.897092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.2303040000002 # Actual altitude: 57.2303040000002 # Commanded vehicle depth:1321.093223 # Seafloor depth:-1366.093223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 137.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.62; MB_Bottom_Detect_Filter_Max_Range = 137.35; MB_Bottom_Detect_Filter_Min_Depth = 28.62; MB_Bottom_Detect_Filter_Max_Depth = 137.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.770063 meters # Minimum depth: 1396.591025 meters looking forward 100.000000 meters along route # Maximum depth: 1407.461855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1351.591025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717046; longitude = -122.724061; captureRadius = 10; duration = 121; initialDepth = 1351.591025; finalDepth = 1321.093223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1351.591025 # Seafloor depth:-1396.591025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 123.530214 meters # Minimum depth: 1410.890254 meters looking forward 100.000000 meters along route # Maximum depth: 1451.962069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.890254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.724861; captureRadius = 10; duration = 123; initialDepth = 1365.890254; finalDepth = 1351.591025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1365.890254 # Seafloor depth:-1410.890254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 134.440825 meters # Minimum depth: 1451.748715 meters looking forward 100.000000 meters along route # Maximum depth: 1506.397144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1406.748715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715267; longitude = -122.725672; captureRadius = 10; duration = 134; initialDepth = 1406.748715; finalDepth = 1365.890254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1406.748715 # Seafloor depth:-1451.748715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 107.341896 meters # Minimum depth: 1513.841273 meters looking forward 100.000000 meters along route # Maximum depth: 1536.718650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.841273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714292; longitude = -122.726555; captureRadius = 10; duration = 107; initialDepth = 1468.841273; finalDepth = 1406.748715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1468.841273 # Seafloor depth:-1513.841273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.771893 meters # Minimum depth: 1541.415846 meters looking forward 100.000000 meters along route # Maximum depth: 1545.562084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.415846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.727261; captureRadius = 10; duration = 121; initialDepth = 1496.415846; finalDepth = 1468.841273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1496.415846 # Seafloor depth:-1541.415846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 121.772350 meters # Minimum depth: 1528.532267 meters looking forward 100.000000 meters along route # Maximum depth: 1536.414193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.532267 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712631; longitude = -122.728060; captureRadius = 10; duration = 121; initialDepth = 1483.532267; finalDepth = 1496.415846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.881926 # Actual altitude: 52.881926 # Commanded vehicle depth:1483.532267 # Seafloor depth:-1536.414193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 126.92; MB_Bottom_Detect_Filter_Min_Depth = 26.44; MB_Bottom_Detect_Filter_Max_Depth = 126.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 142.068320 meters # Minimum depth: 1535.026035 meters looking forward 100.000000 meters along route # Maximum depth: 1545.159571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.026035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711747; longitude = -122.728860; captureRadius = 10; duration = 142; initialDepth = 1490.026035; finalDepth = 1483.532267; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.881926 # Actual altitude: 52.881926 # Commanded vehicle depth:1490.026035 # Seafloor depth:-1535.026035 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 126.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 126.92; MB_Bottom_Detect_Filter_Min_Depth = 26.44; MB_Bottom_Detect_Filter_Max_Depth = 126.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 66.200716 meters # Minimum depth: 1540.058888 meters looking forward 100.000000 meters along route # Maximum depth: 1554.582184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.058888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710717; longitude = -122.729794; captureRadius = 10; duration = 66; initialDepth = 1495.058888; finalDepth = 1490.026035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.5232960000001 # Actual altitude: 59.5232960000001 # Commanded vehicle depth:1495.058888 # Seafloor depth:-1554.582184 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.76; MB_Bottom_Detect_Filter_Max_Range = 142.86; MB_Bottom_Detect_Filter_Min_Depth = 29.76; MB_Bottom_Detect_Filter_Max_Depth = 142.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.799284 meters # Minimum depth: 1524.462987 meters looking forward 100.000000 meters along route # Maximum depth: 1539.245924 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.462987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710363; longitude = -122.729205; captureRadius = 10; duration = 103; initialDepth = 1479.462987; finalDepth = 1495.058888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7829369999999 # Actual altitude: 59.7829369999999 # Commanded vehicle depth:1479.462987 # Seafloor depth:-1539.245924 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 143.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 143.48; MB_Bottom_Detect_Filter_Min_Depth = 29.89; MB_Bottom_Detect_Filter_Max_Depth = 143.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 84.707627 meters # Minimum depth: 1512.307731 meters looking forward 100.000000 meters along route # Maximum depth: 1524.462987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.307731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709807; longitude = -122.728282; captureRadius = 10; duration = 84; initialDepth = 1467.307731; finalDepth = 1479.462987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.7829369999999 # Actual altitude: 59.7829369999999 # Commanded vehicle depth:1467.307731 # Seafloor depth:-1519.412506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 143.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 143.48; MB_Bottom_Detect_Filter_Min_Depth = 29.89; MB_Bottom_Detect_Filter_Max_Depth = 143.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.416466 meters # Minimum depth: 1510.227162 meters looking forward 100.000000 meters along route # Maximum depth: 1524.966779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1465.227162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710423; longitude = -122.727728; captureRadius = 10; duration = 121; initialDepth = 1465.227162; finalDepth = 1467.307731; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1047749999998 # Actual altitude: 52.1047749999998 # Commanded vehicle depth:1465.227162 # Seafloor depth:-1510.227162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 125.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 125.05; MB_Bottom_Detect_Filter_Min_Depth = 26.05; MB_Bottom_Detect_Filter_Max_Depth = 125.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 125.687031 meters # Minimum depth: 1526.310525 meters looking forward 100.000000 meters along route # Maximum depth: 1547.198104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.310525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711306; longitude = -122.726935; captureRadius = 10; duration = 125; initialDepth = 1481.310525; finalDepth = 1465.227162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1481.310525 # Seafloor depth:-1526.310525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.172550 meters # Minimum depth: 1547.475674 meters looking forward 100.000000 meters along route # Maximum depth: 1561.413589 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.475674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712220; longitude = -122.726114; captureRadius = 10; duration = 135; initialDepth = 1502.475674; finalDepth = 1481.310525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1502.475674 # Seafloor depth:-1547.475674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.387110 meters # Minimum depth: 1563.678939 meters looking forward 100.000000 meters along route # Maximum depth: 1567.046461 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.678939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713203; longitude = -122.725231; captureRadius = 10; duration = 103; initialDepth = 1518.678939; finalDepth = 1502.475674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.0717990000001 # Actual altitude: 50 # Commanded vehicle depth:1518.678939 # Seafloor depth:-1564.750738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.414662 meters # Minimum depth: 1536.925870 meters looking forward 100.000000 meters along route # Maximum depth: 1559.662509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.925870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.724555; captureRadius = 10; duration = 121; initialDepth = 1491.925870; finalDepth = 1518.678939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.736639 # Actual altitude: 67.736639 # Commanded vehicle depth:1491.92587 # Seafloor depth:-1559.662509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 162.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.87; MB_Bottom_Detect_Filter_Max_Range = 162.57; MB_Bottom_Detect_Filter_Min_Depth = 33.87; MB_Bottom_Detect_Filter_Max_Depth = 162.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.414212 meters # Minimum depth: 1498.176767 meters looking forward 100.000000 meters along route # Maximum depth: 1532.336450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.176767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.723762; captureRadius = 10; duration = 121; initialDepth = 1453.176767; finalDepth = 1491.925870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1596830000001 # Actual altitude: 79.1596830000001 # Commanded vehicle depth:1453.176767 # Seafloor depth:-1532.336450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 189.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.58; MB_Bottom_Detect_Filter_Max_Range = 189.98; MB_Bottom_Detect_Filter_Min_Depth = 39.58; MB_Bottom_Detect_Filter_Max_Depth = 189.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 126.883542 meters # Minimum depth: 1456.674107 meters looking forward 100.000000 meters along route # Maximum depth: 1495.732694 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1411.674107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.722969; captureRadius = 10; duration = 126; initialDepth = 1411.674107; finalDepth = 1453.176767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.058587 # Actual altitude: 84.058587 # Commanded vehicle depth:1411.674107 # Seafloor depth:-1495.732694 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.03; MB_Bottom_Detect_Filter_Max_Range = 201.74; MB_Bottom_Detect_Filter_Min_Depth = 42.03; MB_Bottom_Detect_Filter_Max_Depth = 201.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.170035 meters # Minimum depth: 1456.265046 meters looking forward 100.000000 meters along route # Maximum depth: 1469.361733 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1411.265046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716644; longitude = -122.722140; captureRadius = 10; duration = 135; initialDepth = 1411.265046; finalDepth = 1411.674107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.058587 # Actual altitude: 84.058587 # Commanded vehicle depth:1411.265046 # Seafloor depth:-1456.265046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 42.03; MB_Bottom_Detect_Filter_Max_Range = 201.74; MB_Bottom_Detect_Filter_Min_Depth = 42.03; MB_Bottom_Detect_Filter_Max_Depth = 201.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.186352 meters # Minimum depth: 1472.658814 meters looking forward 100.000000 meters along route # Maximum depth: 1488.973075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1427.658814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717628; longitude = -122.721257; captureRadius = 10; duration = 102; initialDepth = 1427.658814; finalDepth = 1411.265046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1427.658814 # Seafloor depth:-1472.658814 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.412408 meters # Minimum depth: 1495.826269 meters looking forward 100.000000 meters along route # Maximum depth: 1507.744191 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1450.826269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.720589; captureRadius = 10; duration = 121; initialDepth = 1450.826269; finalDepth = 1427.658814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1450.826269 # Seafloor depth:-1495.826269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.411957 meters # Minimum depth: 1480.953578 meters looking forward 100.000000 meters along route # Maximum depth: 1502.012953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1435.953578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.719796; captureRadius = 10; duration = 121; initialDepth = 1435.953578; finalDepth = 1450.826269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0593749999998 # Actual altitude: 66.0593749999998 # Commanded vehicle depth:1435.953578 # Seafloor depth:-1502.012953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 158.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 158.54; MB_Bottom_Detect_Filter_Min_Depth = 33.03; MB_Bottom_Detect_Filter_Max_Depth = 158.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 128.080008 meters # Minimum depth: 1479.962866 meters looking forward 100.000000 meters along route # Maximum depth: 1490.373105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1434.962866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.719003; captureRadius = 10; duration = 128; initialDepth = 1434.962866; finalDepth = 1435.953578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0593749999998 # Actual altitude: 66.0593749999998 # Commanded vehicle depth:1434.962866 # Seafloor depth:-1479.962866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 158.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.03; MB_Bottom_Detect_Filter_Max_Range = 158.54; MB_Bottom_Detect_Filter_Min_Depth = 33.03; MB_Bottom_Detect_Filter_Max_Depth = 158.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 135.167522 meters # Minimum depth: 1492.611958 meters looking forward 100.000000 meters along route # Maximum depth: 1521.162298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.611958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721069; longitude = -122.718166; captureRadius = 10; duration = 135; initialDepth = 1447.611958; finalDepth = 1434.962866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1447.611958 # Seafloor depth:-1492.611958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.985638 meters # Minimum depth: 1524.074724 meters looking forward 100.000000 meters along route # Maximum depth: 1530.512234 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.074724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722052; longitude = -122.717283; captureRadius = 10; duration = 100; initialDepth = 1479.074724; finalDepth = 1447.611958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1479.074724 # Seafloor depth:-1524.074724 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.410154 meters # Minimum depth: 1534.081726 meters looking forward 100.000000 meters along route # Maximum depth: 1540.810620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.081726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.716623; captureRadius = 10; duration = 121; initialDepth = 1489.081726; finalDepth = 1479.074724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1489.081726 # Seafloor depth:-1534.081726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.409704 meters # Minimum depth: 1542.269977 meters looking forward 100.000000 meters along route # Maximum depth: 1560.204499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.269977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723670; longitude = -122.715830; captureRadius = 10; duration = 121; initialDepth = 1497.269977; finalDepth = 1489.081726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.269977 # Seafloor depth:-1542.269977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 129.276430 meters # Minimum depth: 1560.573253 meters looking forward 100.000000 meters along route # Maximum depth: 1571.093860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1515.573253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724553; longitude = -122.715037; captureRadius = 10; duration = 129; initialDepth = 1515.573253; finalDepth = 1497.269977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1515.573253 # Seafloor depth:-1560.573253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 113.541625 meters # Minimum depth: 1571.821437 meters looking forward 100.000000 meters along route # Maximum depth: 1577.243055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.821437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725493; longitude = -122.714192; captureRadius = 10; duration = 113; initialDepth = 1526.821437; finalDepth = 1515.573253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1526.821437 # Seafloor depth:-1571.821437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.408351 meters # Minimum depth: 1577.570915 meters looking forward 100.000000 meters along route # Maximum depth: 1579.654920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.570915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.713450; captureRadius = 10; duration = 121; initialDepth = 1532.570915; finalDepth = 1526.821437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9516389999999 # Actual altitude: 50 # Commanded vehicle depth:1532.570915 # Seafloor depth:-1579.522554 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.407901 meters # Minimum depth: 1524.417200 meters looking forward 100.000000 meters along route # Maximum depth: 1572.564834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.417200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727202; longitude = -122.712657; captureRadius = 10; duration = 121; initialDepth = 1479.417200; finalDepth = 1532.570915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.1476339999999 # Actual altitude: 93.1476339999999 # Commanded vehicle depth:1479.4172 # Seafloor depth:-1572.564834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.57; MB_Bottom_Detect_Filter_Max_Range = 223.55; MB_Bottom_Detect_Filter_Min_Depth = 46.57; MB_Bottom_Detect_Filter_Max_Depth = 223.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.407450 meters # Minimum depth: 1481.995036 meters looking forward 100.000000 meters along route # Maximum depth: 1518.301058 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.995036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.711864; captureRadius = 10; duration = 121; initialDepth = 1436.995036; finalDepth = 1479.417200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.1476339999999 # Actual altitude: 93.1476339999999 # Commanded vehicle depth:1436.995036 # Seafloor depth:-1518.301058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.57; MB_Bottom_Detect_Filter_Max_Range = 223.55; MB_Bottom_Detect_Filter_Min_Depth = 46.57; MB_Bottom_Detect_Filter_Max_Depth = 223.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 130.472807 meters # Minimum depth: 1482.188886 meters looking forward 100.000000 meters along route # Maximum depth: 1520.835163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1437.188886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728968; longitude = -122.711070; captureRadius = 10; duration = 130; initialDepth = 1437.188886; finalDepth = 1436.995036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.306022 # Actual altitude: 81.306022 # Commanded vehicle depth:1437.188886 # Seafloor depth:-1482.188886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 195.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.65; MB_Bottom_Detect_Filter_Max_Range = 195.13; MB_Bottom_Detect_Filter_Min_Depth = 40.65; MB_Bottom_Detect_Filter_Max_Depth = 195.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 112.340741 meters # Minimum depth: 1527.615049 meters looking forward 100.000000 meters along route # Maximum depth: 1564.449073 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1482.615049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729917; longitude = -122.710218; captureRadius = 10; duration = 112; initialDepth = 1482.615049; finalDepth = 1437.188886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1482.615049 # Seafloor depth:-1527.615049 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.406098 meters # Minimum depth: 1586.484642 meters looking forward 100.000000 meters along route # Maximum depth: 1595.918042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.484642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730734; longitude = -122.709484; captureRadius = 10; duration = 121; initialDepth = 1541.484642; finalDepth = 1482.615049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1541.484642 # Seafloor depth:-1586.484642 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.405648 meters # Minimum depth: 1512.632371 meters looking forward 100.000000 meters along route # Maximum depth: 1579.906311 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1467.632371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731618; longitude = -122.708691; captureRadius = 10; duration = 121; initialDepth = 1467.632371; finalDepth = 1541.484642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.27394 # Actual altitude: 100 # Commanded vehicle depth:1467.632371 # Seafloor depth:-1579.906311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.405196 meters # Minimum depth: 1506.028879 meters looking forward 100.000000 meters along route # Maximum depth: 1513.219568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.028879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.707897; captureRadius = 10; duration = 121; initialDepth = 1461.028879; finalDepth = 1467.632371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.27394 # Actual altitude: 100 # Commanded vehicle depth:1461.028879 # Seafloor depth:-1506.028879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 50.00; MB_Bottom_Detect_Filter_Max_Range = 240.00; MB_Bottom_Detect_Filter_Min_Depth = 50.00; MB_Bottom_Detect_Filter_Max_Depth = 240.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 131.669141 meters # Minimum depth: 1514.232319 meters looking forward 100.000000 meters along route # Maximum depth: 1549.681794 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1469.232319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.707104; captureRadius = 10; duration = 131; initialDepth = 1469.232319; finalDepth = 1461.028879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1469.232319 # Seafloor depth:-1514.232319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.139901 meters # Minimum depth: 1542.912962 meters looking forward 100.000000 meters along route # Maximum depth: 1551.246877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.912962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734342; longitude = -122.706244; captureRadius = 10; duration = 111; initialDepth = 1497.912962; finalDepth = 1469.232319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.3339149999999 # Actual altitude: 53.3339149999999 # Commanded vehicle depth:1497.912962 # Seafloor depth:-1551.246877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 128.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.67; MB_Bottom_Detect_Filter_Max_Range = 128.00; MB_Bottom_Detect_Filter_Min_Depth = 26.67; MB_Bottom_Detect_Filter_Max_Depth = 128.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.403845 meters # Minimum depth: 1503.678585 meters looking forward 100.000000 meters along route # Maximum depth: 1526.512529 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1458.678585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735150; longitude = -122.705518; captureRadius = 10; duration = 121; initialDepth = 1458.678585; finalDepth = 1497.912962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.833944 # Actual altitude: 67.833944 # Commanded vehicle depth:1458.678585 # Seafloor depth:-1526.512529 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 162.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.92; MB_Bottom_Detect_Filter_Max_Range = 162.80; MB_Bottom_Detect_Filter_Min_Depth = 33.92; MB_Bottom_Detect_Filter_Max_Depth = 162.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.403394 meters # Minimum depth: 1508.543901 meters looking forward 100.000000 meters along route # Maximum depth: 1529.438275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1463.543901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736033; longitude = -122.704724; captureRadius = 10; duration = 121; initialDepth = 1463.543901; finalDepth = 1458.678585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.833944 # Actual altitude: 67.833944 # Commanded vehicle depth:1463.543901 # Seafloor depth:-1508.543901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 162.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.92; MB_Bottom_Detect_Filter_Max_Range = 162.80; MB_Bottom_Detect_Filter_Min_Depth = 33.92; MB_Bottom_Detect_Filter_Max_Depth = 162.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 141.636724 meters # Minimum depth: 1530.307216 meters looking forward 100.000000 meters along route # Maximum depth: 1558.783978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.307216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736916; longitude = -122.703931; captureRadius = 10; duration = 141; initialDepth = 1485.307216; finalDepth = 1463.543901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1485.307216 # Seafloor depth:-1530.307216 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 80.375332 meters # Minimum depth: 1565.878906 meters looking forward 100.000000 meters along route # Maximum depth: 1578.290747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.878906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737947; longitude = -122.703006; captureRadius = 10; duration = 80; initialDepth = 1520.878906; finalDepth = 1485.307216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1520.878906 # Seafloor depth:-1565.878906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 105.236240 meters # Minimum depth: 1599.654772 meters looking forward 100.000000 meters along route # Maximum depth: 1650.358925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1554.654772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737540; longitude = -122.702270; captureRadius = 10; duration = 105; initialDepth = 1554.654772; finalDepth = 1520.878906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1554.654772 # Seafloor depth:-1599.654772 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 79.456771 meters # Minimum depth: 1643.090059 meters looking forward 100.000000 meters along route # Maximum depth: 1660.814331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.090059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.737008; longitude = -122.701306; captureRadius = 10; duration = 79; initialDepth = 1598.090059; finalDepth = 1554.654772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.7242719999999 # Actual altitude: 62.7242719999999 # Commanded vehicle depth:1598.090059 # Seafloor depth:-1660.814331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 150.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.36; MB_Bottom_Detect_Filter_Max_Range = 150.54; MB_Bottom_Detect_Filter_Min_Depth = 31.36; MB_Bottom_Detect_Filter_Max_Depth = 150.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 134.425184 meters # Minimum depth: 1622.276641 meters looking forward 100.000000 meters along route # Maximum depth: 1642.926920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.276641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.736432; longitude = -122.701828; captureRadius = 10; duration = 134; initialDepth = 1577.276641; finalDepth = 1598.090059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6502790000002 # Actual altitude: 65.6502790000002 # Commanded vehicle depth:1577.276641 # Seafloor depth:-1642.926920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 157.56; MB_Bottom_Detect_Filter_Min_Depth = 32.83; MB_Bottom_Detect_Filter_Max_Depth = 157.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.178957 meters # Minimum depth: 1622.144085 meters looking forward 100.000000 meters along route # Maximum depth: 1624.860332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.144085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735457; longitude = -122.702711; captureRadius = 10; duration = 103; initialDepth = 1577.144085; finalDepth = 1577.276641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6502790000002 # Actual altitude: 65.6502790000002 # Commanded vehicle depth:1577.144085 # Seafloor depth:-1622.144085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 157.56; MB_Bottom_Detect_Filter_Min_Depth = 32.83; MB_Bottom_Detect_Filter_Max_Depth = 157.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.762721 meters # Minimum depth: 1620.100697 meters looking forward 100.000000 meters along route # Maximum depth: 1633.939979 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.100697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734708; longitude = -122.703389; captureRadius = 10; duration = 121; initialDepth = 1575.100697; finalDepth = 1577.144085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1575.100697 # Seafloor depth:-1620.100697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.763179 meters # Minimum depth: 1634.538347 meters looking forward 100.000000 meters along route # Maximum depth: 1637.592167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.538347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733825; longitude = -122.704189; captureRadius = 10; duration = 121; initialDepth = 1589.538347; finalDepth = 1575.100697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1589.538347 # Seafloor depth:-1634.538347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 123.787677 meters # Minimum depth: 1603.401614 meters looking forward 100.000000 meters along route # Maximum depth: 1636.018501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.401614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732942; longitude = -122.704989; captureRadius = 10; duration = 123; initialDepth = 1558.401614; finalDepth = 1589.538347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6168869999999 # Actual altitude: 77.6168869999999 # Commanded vehicle depth:1558.401614 # Seafloor depth:-1636.018501 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.81; MB_Bottom_Detect_Filter_Max_Range = 186.28; MB_Bottom_Detect_Filter_Min_Depth = 38.81; MB_Bottom_Detect_Filter_Max_Depth = 186.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 134.427692 meters # Minimum depth: 1582.197469 meters looking forward 100.000000 meters along route # Maximum depth: 1602.619162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.197469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732044; longitude = -122.705802; captureRadius = 10; duration = 134; initialDepth = 1537.197469; finalDepth = 1558.401614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.6168869999999 # Actual altitude: 77.6168869999999 # Commanded vehicle depth:1537.197469 # Seafloor depth:-1602.619162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 186.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.81; MB_Bottom_Detect_Filter_Max_Range = 186.28; MB_Bottom_Detect_Filter_Min_Depth = 38.81; MB_Bottom_Detect_Filter_Max_Depth = 186.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 107.076908 meters # Minimum depth: 1596.387022 meters looking forward 100.000000 meters along route # Maximum depth: 1625.417945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.387022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731069; longitude = -122.706685; captureRadius = 10; duration = 107; initialDepth = 1551.387022; finalDepth = 1537.197469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.421693 # Actual altitude: 65.421693 # Commanded vehicle depth:1551.387022 # Seafloor depth:-1596.387022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 157.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.71; MB_Bottom_Detect_Filter_Max_Range = 157.01; MB_Bottom_Detect_Filter_Min_Depth = 32.71; MB_Bottom_Detect_Filter_Max_Depth = 157.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.765007 meters # Minimum depth: 1637.548942 meters looking forward 100.000000 meters along route # Maximum depth: 1646.836510 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.548942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730293; longitude = -122.707389; captureRadius = 10; duration = 121; initialDepth = 1592.548942; finalDepth = 1551.387022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8996180000001 # Actual altitude: 50.8996180000001 # Commanded vehicle depth:1592.548942 # Seafloor depth:-1643.448560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 122.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 122.16; MB_Bottom_Detect_Filter_Min_Depth = 25.45; MB_Bottom_Detect_Filter_Max_Depth = 122.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.765464 meters # Minimum depth: 1589.493607 meters looking forward 100.000000 meters along route # Maximum depth: 1627.392395 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.493607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729410; longitude = -122.708189; captureRadius = 10; duration = 121; initialDepth = 1544.493607; finalDepth = 1592.548942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.898788 # Actual altitude: 82.898788 # Commanded vehicle depth:1544.493607 # Seafloor depth:-1627.392395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.45; MB_Bottom_Detect_Filter_Max_Range = 198.96; MB_Bottom_Detect_Filter_Min_Depth = 41.45; MB_Bottom_Detect_Filter_Max_Depth = 198.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.765921 meters # Minimum depth: 1576.986433 meters looking forward 100.000000 meters along route # Maximum depth: 1585.659569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.986433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728527; longitude = -122.708989; captureRadius = 10; duration = 121; initialDepth = 1531.986433; finalDepth = 1544.493607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.898788 # Actual altitude: 82.898788 # Commanded vehicle depth:1531.986433 # Seafloor depth:-1585.659569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 198.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.45; MB_Bottom_Detect_Filter_Max_Range = 198.96; MB_Bottom_Detect_Filter_Min_Depth = 41.45; MB_Bottom_Detect_Filter_Max_Depth = 198.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 132.558207 meters # Minimum depth: 1534.145374 meters looking forward 100.000000 meters along route # Maximum depth: 1580.091515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.145374 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727644; longitude = -122.709789; captureRadius = 10; duration = 132; initialDepth = 1489.145374; finalDepth = 1531.986433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.9461410000001 # Actual altitude: 90.9461410000001 # Commanded vehicle depth:1489.145374 # Seafloor depth:-1580.091515 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.47; MB_Bottom_Detect_Filter_Max_Range = 218.27; MB_Bottom_Detect_Filter_Min_Depth = 45.47; MB_Bottom_Detect_Filter_Max_Depth = 218.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.975007 meters # Minimum depth: 1534.004670 meters looking forward 100.000000 meters along route # Maximum depth: 1546.639181 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.004670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726682; longitude = -122.710659; captureRadius = 10; duration = 110; initialDepth = 1489.004670; finalDepth = 1489.145374; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.9461410000001 # Actual altitude: 90.9461410000001 # Commanded vehicle depth:1489.00467 # Seafloor depth:-1534.004670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 45.47; MB_Bottom_Detect_Filter_Max_Range = 218.27; MB_Bottom_Detect_Filter_Min_Depth = 45.47; MB_Bottom_Detect_Filter_Max_Depth = 218.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.767292 meters # Minimum depth: 1550.628138 meters looking forward 100.000000 meters along route # Maximum depth: 1555.540625 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.628138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725877; longitude = -122.711388; captureRadius = 10; duration = 121; initialDepth = 1505.628138; finalDepth = 1489.004670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3662420000001 # Actual altitude: 50 # Commanded vehicle depth:1505.628138 # Seafloor depth:-1553.994380 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.767750 meters # Minimum depth: 1550.551224 meters looking forward 100.000000 meters along route # Maximum depth: 1553.951471 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.551224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724994; longitude = -122.712188; captureRadius = 10; duration = 121; initialDepth = 1505.551224; finalDepth = 1505.628138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3662420000001 # Actual altitude: 50 # Commanded vehicle depth:1505.551224 # Seafloor depth:-1550.551224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.768206 meters # Minimum depth: 1537.667562 meters looking forward 100.000000 meters along route # Maximum depth: 1548.898804 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.667562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724111; longitude = -122.712988; captureRadius = 10; duration = 121; initialDepth = 1492.667562; finalDepth = 1505.551224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.2312419999998 # Actual altitude: 56.2312419999998 # Commanded vehicle depth:1492.667562 # Seafloor depth:-1548.898804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 134.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.12; MB_Bottom_Detect_Filter_Max_Range = 134.95; MB_Bottom_Detect_Filter_Min_Depth = 28.12; MB_Bottom_Detect_Filter_Max_Depth = 134.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 128.664535 meters # Minimum depth: 1525.090891 meters looking forward 100.000000 meters along route # Maximum depth: 1536.950126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.090891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723228; longitude = -122.713788; captureRadius = 10; duration = 128; initialDepth = 1480.090891; finalDepth = 1492.667562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8592349999999 # Actual altitude: 56.8592349999999 # Commanded vehicle depth:1480.090891 # Seafloor depth:-1536.950126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 136.46; MB_Bottom_Detect_Filter_Min_Depth = 28.43; MB_Bottom_Detect_Filter_Max_Depth = 136.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 134.433263 meters # Minimum depth: 1524.724242 meters looking forward 100.000000 meters along route # Maximum depth: 1528.934929 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1479.724242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722295; longitude = -122.714633; captureRadius = 10; duration = 134; initialDepth = 1479.724242; finalDepth = 1480.090891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.8592349999999 # Actual altitude: 56.8592349999999 # Commanded vehicle depth:1479.724242 # Seafloor depth:-1524.724242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 136.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.43; MB_Bottom_Detect_Filter_Max_Range = 136.46; MB_Bottom_Detect_Filter_Min_Depth = 28.43; MB_Bottom_Detect_Filter_Max_Depth = 136.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.209566 meters # Minimum depth: 1530.106082 meters looking forward 100.000000 meters along route # Maximum depth: 1536.764912 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1485.106082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721320; longitude = -122.715517; captureRadius = 10; duration = 102; initialDepth = 1485.106082; finalDepth = 1479.724242; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1485.106082 # Seafloor depth:-1530.106082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.770036 meters # Minimum depth: 1536.993666 meters looking forward 100.000000 meters along route # Maximum depth: 1541.331179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1491.993666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720579; longitude = -122.716188; captureRadius = 10; duration = 121; initialDepth = 1491.993666; finalDepth = 1485.106082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1491.993666 # Seafloor depth:-1536.993666 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.770492 meters # Minimum depth: 1542.381012 meters looking forward 100.000000 meters along route # Maximum depth: 1562.090232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.381012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719695; longitude = -122.716988; captureRadius = 10; duration = 121; initialDepth = 1497.381012; finalDepth = 1491.993666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1497.381012 # Seafloor depth:-1542.381012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 124.770717 meters # Minimum depth: 1564.730691 meters looking forward 100.000000 meters along route # Maximum depth: 1597.578741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1519.730691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718812; longitude = -122.717788; captureRadius = 10; duration = 124; initialDepth = 1519.730691; finalDepth = 1497.381012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1519.730691 # Seafloor depth:-1564.730691 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 134.435771 meters # Minimum depth: 1583.415221 meters looking forward 100.000000 meters along route # Maximum depth: 1597.585508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.415221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717908; longitude = -122.718607; captureRadius = 10; duration = 134; initialDepth = 1538.415221; finalDepth = 1519.730691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1702869999999 # Actual altitude: 59.1702869999999 # Commanded vehicle depth:1538.415221 # Seafloor depth:-1597.585508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.59; MB_Bottom_Detect_Filter_Max_Range = 142.01; MB_Bottom_Detect_Filter_Min_Depth = 29.59; MB_Bottom_Detect_Filter_Max_Depth = 142.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 106.107734 meters # Minimum depth: 1570.191165 meters looking forward 100.000000 meters along route # Maximum depth: 1581.806943 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.191165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716933; longitude = -122.719491; captureRadius = 10; duration = 106; initialDepth = 1525.191165; finalDepth = 1538.415221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.1702869999999 # Actual altitude: 59.1702869999999 # Commanded vehicle depth:1525.191165 # Seafloor depth:-1581.806943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 142.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.59; MB_Bottom_Detect_Filter_Max_Range = 142.01; MB_Bottom_Detect_Filter_Min_Depth = 29.59; MB_Bottom_Detect_Filter_Max_Depth = 142.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.772322 meters # Minimum depth: 1565.336597 meters looking forward 100.000000 meters along route # Maximum depth: 1573.259198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.336597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.720188; captureRadius = 10; duration = 121; initialDepth = 1520.336597; finalDepth = 1525.191165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.6157780000001 # Actual altitude: 56.6157780000001 # Commanded vehicle depth:1520.336597 # Seafloor depth:-1567.593717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 135.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.31; MB_Bottom_Detect_Filter_Max_Range = 135.88; MB_Bottom_Detect_Filter_Min_Depth = 28.31; MB_Bottom_Detect_Filter_Max_Depth = 135.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.772779 meters # Minimum depth: 1575.744432 meters looking forward 100.000000 meters along route # Maximum depth: 1599.572499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.744432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.720988; captureRadius = 10; duration = 121; initialDepth = 1530.744432; finalDepth = 1520.336597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.25712 # Actual altitude: 50 # Commanded vehicle depth:1530.744432 # Seafloor depth:-1575.744432 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.773236 meters # Minimum depth: 1604.733637 meters looking forward 100.000000 meters along route # Maximum depth: 1627.285183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.733637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714397; longitude = -122.721787; captureRadius = 10; duration = 121; initialDepth = 1559.733637; finalDepth = 1530.744432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1559.733637 # Seafloor depth:-1604.733637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 133.541796 meters # Minimum depth: 1627.494145 meters looking forward 100.000000 meters along route # Maximum depth: 1632.931056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.494145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.722587; captureRadius = 10; duration = 133; initialDepth = 1582.494145; finalDepth = 1559.733637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1582.494145 # Seafloor depth:-1627.494145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.006049 meters # Minimum depth: 1620.298337 meters looking forward 100.000000 meters along route # Maximum depth: 1630.144161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.298337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712545; longitude = -122.723465; captureRadius = 10; duration = 110; initialDepth = 1575.298337; finalDepth = 1582.494145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.845824 # Actual altitude: 54.845824 # Commanded vehicle depth:1575.298337 # Seafloor depth:-1630.144161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 131.63; MB_Bottom_Detect_Filter_Min_Depth = 27.42; MB_Bottom_Detect_Filter_Max_Depth = 131.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.774608 meters # Minimum depth: 1610.362814 meters looking forward 100.000000 meters along route # Maximum depth: 1617.997834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.362814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711747; longitude = -122.724187; captureRadius = 10; duration = 121; initialDepth = 1565.362814; finalDepth = 1575.298337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.845824 # Actual altitude: 54.845824 # Commanded vehicle depth:1565.362814 # Seafloor depth:-1617.085930 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.42; MB_Bottom_Detect_Filter_Max_Range = 131.63; MB_Bottom_Detect_Filter_Min_Depth = 27.42; MB_Bottom_Detect_Filter_Max_Depth = 131.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 121.775065 meters # Minimum depth: 1582.247224 meters looking forward 100.000000 meters along route # Maximum depth: 1604.176626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1537.247224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710864; longitude = -122.724987; captureRadius = 10; duration = 121; initialDepth = 1537.247224; finalDepth = 1565.362814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.929402 # Actual altitude: 66.929402 # Commanded vehicle depth:1537.247224 # Seafloor depth:-1604.176626 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 160.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.46; MB_Bottom_Detect_Filter_Max_Range = 160.63; MB_Bottom_Detect_Filter_Min_Depth = 33.46; MB_Bottom_Detect_Filter_Max_Depth = 160.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 149.622480 meters # Minimum depth: 1550.429747 meters looking forward 100.000000 meters along route # Maximum depth: 1579.002581 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.429747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.725787; captureRadius = 10; duration = 149; initialDepth = 1505.429747; finalDepth = 1537.247224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.5728340000001 # Actual altitude: 73.5728340000001 # Commanded vehicle depth:1505.429747 # Seafloor depth:-1579.002581 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.79; MB_Bottom_Detect_Filter_Max_Range = 176.57; MB_Bottom_Detect_Filter_Min_Depth = 36.79; MB_Bottom_Detect_Filter_Max_Depth = 176.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 44.736851 meters # Minimum depth: 1546.746002 meters looking forward 100.000000 meters along route # Maximum depth: 1551.865514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.746002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708896; longitude = -122.726770; captureRadius = 10; duration = 44; initialDepth = 1501.746002; finalDepth = 1505.429747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.5728340000001 # Actual altitude: 73.5728340000001 # Commanded vehicle depth:1501.746002 # Seafloor depth:-1546.746002 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 176.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.79; MB_Bottom_Detect_Filter_Max_Range = 176.57; MB_Bottom_Detect_Filter_Min_Depth = 36.79; MB_Bottom_Detect_Filter_Max_Depth = 176.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 125.263149 meters # Minimum depth: 1552.352874 meters looking forward 100.000000 meters along route # Maximum depth: 1609.694563 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.352874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.726372; captureRadius = 10; duration = 125; initialDepth = 1507.352874; finalDepth = 1501.746002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1507.352874 # Seafloor depth:-1552.352874 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 92.515229 meters # Minimum depth: 1619.636788 meters looking forward 100.000000 meters along route # Maximum depth: 1631.854726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.636788 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707986; longitude = -122.725258; captureRadius = 10; duration = 92; initialDepth = 1574.636788; finalDepth = 1507.352874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6513279999999 # Actual altitude: 50 # Commanded vehicle depth:1574.636788 # Seafloor depth:-1624.288116 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.776652 meters # Minimum depth: 1618.495441 meters looking forward 100.000000 meters along route # Maximum depth: 1648.691365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.495441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.724650; captureRadius = 10; duration = 121; initialDepth = 1573.495441; finalDepth = 1574.636788; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6513279999999 # Actual altitude: 50 # Commanded vehicle depth:1573.495441 # Seafloor depth:-1618.495441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 125.958874 meters # Minimum depth: 1637.767653 meters looking forward 100.000000 meters along route # Maximum depth: 1651.382129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.767653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709540; longitude = -122.723850; captureRadius = 10; duration = 125; initialDepth = 1592.767653; finalDepth = 1573.495441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.905536 # Actual altitude: 57.905536 # Commanded vehicle depth:1592.767653 # Seafloor depth:-1650.673189 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.95; MB_Bottom_Detect_Filter_Max_Range = 138.97; MB_Bottom_Detect_Filter_Min_Depth = 28.95; MB_Bottom_Detect_Filter_Max_Depth = 138.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 134.437703 meters # Minimum depth: 1637.205621 meters looking forward 100.000000 meters along route # Maximum depth: 1650.492638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.205621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710453; longitude = -122.723023; captureRadius = 10; duration = 134; initialDepth = 1592.205621; finalDepth = 1592.767653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.905536 # Actual altitude: 57.905536 # Commanded vehicle depth:1592.205621 # Seafloor depth:-1637.424697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.95; MB_Bottom_Detect_Filter_Max_Range = 138.97; MB_Bottom_Detect_Filter_Min_Depth = 28.95; MB_Bottom_Detect_Filter_Max_Depth = 138.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.930634 meters # Minimum depth: 1641.951273 meters looking forward 100.000000 meters along route # Maximum depth: 1655.726757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1596.951273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711428; longitude = -122.722140; captureRadius = 10; duration = 104; initialDepth = 1596.951273; finalDepth = 1592.205621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2190759999999 # Actual altitude: 50 # Commanded vehicle depth:1596.951273 # Seafloor depth:-1641.951273 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.774823 meters # Minimum depth: 1673.634999 meters looking forward 100.000000 meters along route # Maximum depth: 1702.128882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.634999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.721451; captureRadius = 10; duration = 121; initialDepth = 1628.634999; finalDepth = 1596.951273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1628.634999 # Seafloor depth:-1673.634999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.774365 meters # Minimum depth: 1694.812314 meters looking forward 100.000000 meters along route # Maximum depth: 1704.703528 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.812314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.720651; captureRadius = 10; duration = 121; initialDepth = 1649.812314; finalDepth = 1628.634999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.891214 # Actual altitude: 54.891214 # Commanded vehicle depth:1649.812314 # Seafloor depth:-1704.703528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 131.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.45; MB_Bottom_Detect_Filter_Max_Range = 131.74; MB_Bottom_Detect_Filter_Min_Depth = 27.45; MB_Bottom_Detect_Filter_Max_Depth = 131.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.047751 meters # Minimum depth: 1671.276364 meters looking forward 100.000000 meters along route # Maximum depth: 1700.140284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.276364 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.719851; captureRadius = 10; duration = 122; initialDepth = 1626.276364; finalDepth = 1649.812314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.86392 # Actual altitude: 73.86392 # Commanded vehicle depth:1626.276364 # Seafloor depth:-1700.140284 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 177.27; MB_Bottom_Detect_Filter_Min_Depth = 36.93; MB_Bottom_Detect_Filter_Max_Depth = 177.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 134.435196 meters # Minimum depth: 1666.635207 meters looking forward 100.000000 meters along route # Maximum depth: 1671.354859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1621.635207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714840; longitude = -122.719049; captureRadius = 10; duration = 134; initialDepth = 1621.635207; finalDepth = 1626.276364; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.86392 # Actual altitude: 73.86392 # Commanded vehicle depth:1621.635207 # Seafloor depth:-1671.270630 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 177.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.93; MB_Bottom_Detect_Filter_Max_Range = 177.27; MB_Bottom_Detect_Filter_Min_Depth = 36.93; MB_Bottom_Detect_Filter_Max_Depth = 177.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.837406 meters # Minimum depth: 1673.061509 meters looking forward 100.000000 meters along route # Maximum depth: 1683.953693 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.061509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715815; longitude = -122.718166; captureRadius = 10; duration = 108; initialDepth = 1628.061509; finalDepth = 1621.635207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6354229999999 # Actual altitude: 50 # Commanded vehicle depth:1628.061509 # Seafloor depth:-1673.061509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.772536 meters # Minimum depth: 1684.954658 meters looking forward 100.000000 meters along route # Maximum depth: 1691.683568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1639.954658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716605; longitude = -122.717451; captureRadius = 10; duration = 121; initialDepth = 1639.954658; finalDepth = 1628.061509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9050049999998 # Actual altitude: 50 # Commanded vehicle depth:1639.954658 # Seafloor depth:-1687.859663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.772079 meters # Minimum depth: 1640.075050 meters looking forward 100.000000 meters along route # Maximum depth: 1677.478465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.075050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.716651; captureRadius = 10; duration = 121; initialDepth = 1595.075050; finalDepth = 1639.954658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.403415 # Actual altitude: 82.403415 # Commanded vehicle depth:1595.07505 # Seafloor depth:-1677.478465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.20; MB_Bottom_Detect_Filter_Max_Range = 197.77; MB_Bottom_Detect_Filter_Min_Depth = 41.20; MB_Bottom_Detect_Filter_Max_Depth = 197.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.771622 meters # Minimum depth: 1596.097243 meters looking forward 100.000000 meters along route # Maximum depth: 1629.752013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.097243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.715851; captureRadius = 10; duration = 121; initialDepth = 1551.097243; finalDepth = 1595.075050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.403415 # Actual altitude: 82.403415 # Commanded vehicle depth:1551.097243 # Seafloor depth:-1629.752013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 197.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 41.20; MB_Bottom_Detect_Filter_Max_Range = 197.77; MB_Bottom_Detect_Filter_Min_Depth = 41.20; MB_Bottom_Detect_Filter_Max_Depth = 197.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 130.797841 meters # Minimum depth: 1547.518061 meters looking forward 100.000000 meters along route # Maximum depth: 1595.198373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.518061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.715051; captureRadius = 10; duration = 130; initialDepth = 1502.518061; finalDepth = 1551.097243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.680312 # Actual altitude: 92.680312 # Commanded vehicle depth:1502.518061 # Seafloor depth:-1595.198373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.34; MB_Bottom_Detect_Filter_Max_Range = 222.43; MB_Bottom_Detect_Filter_Min_Depth = 46.34; MB_Bottom_Detect_Filter_Max_Depth = 222.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 134.432131 meters # Minimum depth: 1532.925571 meters looking forward 100.000000 meters along route # Maximum depth: 1547.841708 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.925571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720203; longitude = -122.714192; captureRadius = 10; duration = 134; initialDepth = 1487.925571; finalDepth = 1502.518061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.680312 # Actual altitude: 92.680312 # Commanded vehicle depth:1487.925571 # Seafloor depth:-1545.904512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 46.34; MB_Bottom_Detect_Filter_Max_Range = 222.43; MB_Bottom_Detect_Filter_Min_Depth = 46.34; MB_Bottom_Detect_Filter_Max_Depth = 222.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 100.082151 meters # Minimum depth: 1513.407770 meters looking forward 100.000000 meters along route # Maximum depth: 1527.066837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.407770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721177; longitude = -122.713309; captureRadius = 10; duration = 100; initialDepth = 1468.407770; finalDepth = 1487.925571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6590670000001 # Actual altitude: 58.6590670000001 # Commanded vehicle depth:1468.40777 # Seafloor depth:-1527.066837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.33; MB_Bottom_Detect_Filter_Max_Range = 140.78; MB_Bottom_Detect_Filter_Min_Depth = 29.33; MB_Bottom_Detect_Filter_Max_Depth = 140.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.769794 meters # Minimum depth: 1513.417663 meters looking forward 100.000000 meters along route # Maximum depth: 1523.597494 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.417663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721903; longitude = -122.712651; captureRadius = 10; duration = 121; initialDepth = 1468.417663; finalDepth = 1468.407770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.6590670000001 # Actual altitude: 58.6590670000001 # Commanded vehicle depth:1468.417663 # Seafloor depth:-1513.417663 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 140.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.33; MB_Bottom_Detect_Filter_Max_Range = 140.78; MB_Bottom_Detect_Filter_Min_Depth = 29.33; MB_Bottom_Detect_Filter_Max_Depth = 140.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.769336 meters # Minimum depth: 1528.205419 meters looking forward 100.000000 meters along route # Maximum depth: 1545.946788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.205419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.711851; captureRadius = 10; duration = 121; initialDepth = 1483.205419; finalDepth = 1468.417663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1483.205419 # Seafloor depth:-1528.205419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 126.886790 meters # Minimum depth: 1544.639201 meters looking forward 100.000000 meters along route # Maximum depth: 1572.049198 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.639201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723670; longitude = -122.711051; captureRadius = 10; duration = 126; initialDepth = 1499.639201; finalDepth = 1483.205419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1191100000001 # Actual altitude: 50 # Commanded vehicle depth:1499.639201 # Seafloor depth:-1546.758311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 134.429623 meters # Minimum depth: 1574.804815 meters looking forward 100.000000 meters along route # Maximum depth: 1616.096006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.804815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724590; longitude = -122.710218; captureRadius = 10; duration = 134; initialDepth = 1529.804815; finalDepth = 1499.639201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1191100000001 # Actual altitude: 50 # Commanded vehicle depth:1529.804815 # Seafloor depth:-1574.804815 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.988852 meters # Minimum depth: 1620.266634 meters looking forward 100.000000 meters along route # Maximum depth: 1625.610786 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.266634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.725565; longitude = -122.709335; captureRadius = 10; duration = 103; initialDepth = 1575.266634; finalDepth = 1529.804815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1575.266634 # Seafloor depth:-1620.266634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.767508 meters # Minimum depth: 1607.453988 meters looking forward 100.000000 meters along route # Maximum depth: 1624.130337 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.453988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.726319; longitude = -122.708652; captureRadius = 10; duration = 121; initialDepth = 1562.453988; finalDepth = 1575.266634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.841396 # Actual altitude: 57.841396 # Commanded vehicle depth:1562.453988 # Seafloor depth:-1620.295384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.92; MB_Bottom_Detect_Filter_Max_Range = 138.82; MB_Bottom_Detect_Filter_Min_Depth = 28.92; MB_Bottom_Detect_Filter_Max_Depth = 138.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.767050 meters # Minimum depth: 1606.191233 meters looking forward 100.000000 meters along route # Maximum depth: 1621.577605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.191233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.727202; longitude = -122.707852; captureRadius = 10; duration = 121; initialDepth = 1561.191233; finalDepth = 1562.453988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.841396 # Actual altitude: 57.841396 # Commanded vehicle depth:1561.191233 # Seafloor depth:-1606.191233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 138.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.92; MB_Bottom_Detect_Filter_Max_Range = 138.82; MB_Bottom_Detect_Filter_Min_Depth = 28.92; MB_Bottom_Detect_Filter_Max_Depth = 138.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 122.975886 meters # Minimum depth: 1625.715940 meters looking forward 100.000000 meters along route # Maximum depth: 1651.538159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.715940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728085; longitude = -122.707052; captureRadius = 10; duration = 122; initialDepth = 1580.715940; finalDepth = 1561.191233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1580.71594 # Seafloor depth:-1625.715940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 134.427116 meters # Minimum depth: 1651.391200 meters looking forward 100.000000 meters along route # Maximum depth: 1667.250877 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.391200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.728977; longitude = -122.706244; captureRadius = 10; duration = 134; initialDepth = 1606.391200; finalDepth = 1580.715940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1606.3912 # Seafloor depth:-1651.391200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.895407 meters # Minimum depth: 1668.819616 meters looking forward 100.000000 meters along route # Maximum depth: 1680.000331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.819616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.729952; longitude = -122.705361; captureRadius = 10; duration = 107; initialDepth = 1623.819616; finalDepth = 1606.391200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1623.819616 # Seafloor depth:-1668.819616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.765223 meters # Minimum depth: 1689.979594 meters looking forward 100.000000 meters along route # Maximum depth: 1713.279275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.979594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.730734; longitude = -122.704652; captureRadius = 10; duration = 121; initialDepth = 1644.979594; finalDepth = 1623.819616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1644.979594 # Seafloor depth:-1689.979594 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.764765 meters # Minimum depth: 1717.368986 meters looking forward 100.000000 meters along route # Maximum depth: 1729.468115 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.368986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.731618; longitude = -122.703852; captureRadius = 10; duration = 121; initialDepth = 1672.368986; finalDepth = 1644.979594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1672.368986 # Seafloor depth:-1717.368986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 121.764308 meters # Minimum depth: 1723.127690 meters looking forward 100.000000 meters along route # Maximum depth: 1728.756084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.127690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.732501; longitude = -122.703052; captureRadius = 10; duration = 121; initialDepth = 1678.127690; finalDepth = 1672.368986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6283940000001 # Actual altitude: 50.6283940000001 # Commanded vehicle depth:1678.12769 # Seafloor depth:-1728.756084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 121.51; MB_Bottom_Detect_Filter_Min_Depth = 25.31; MB_Bottom_Detect_Filter_Max_Depth = 121.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 131.725429 meters # Minimum depth: 1717.453141 meters looking forward 100.000000 meters along route # Maximum depth: 1722.794272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.453141 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.733384; longitude = -122.702252; captureRadius = 10; duration = 131; initialDepth = 1672.453141; finalDepth = 1678.127690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6283940000001 # Actual altitude: 50.6283940000001 # Commanded vehicle depth:1672.453141 # Seafloor depth:-1722.794272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 121.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.31; MB_Bottom_Detect_Filter_Max_Range = 121.51; MB_Bottom_Detect_Filter_Min_Depth = 25.31; MB_Bottom_Detect_Filter_Max_Depth = 121.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 134.424052 meters # Minimum depth: 1714.897710 meters looking forward 100.000000 meters along route # Maximum depth: 1722.376444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1669.897710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.734339; longitude = -122.701387; captureRadius = 10; duration = 134; initialDepth = 1669.897710; finalDepth = 1672.453141; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3411310000001 # Actual altitude: 50.3411310000001 # Commanded vehicle depth:1669.89771 # Seafloor depth:-1718.822131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 120.82; MB_Bottom_Detect_Filter_Min_Depth = 25.17; MB_Bottom_Detect_Filter_Max_Depth = 120.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 107.974260 meters # Minimum depth: 1724.191260 meters looking forward 100.000000 meters along route # Maximum depth: 1734.374957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1679.191260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.735314; longitude = -122.700504; captureRadius = 10; duration = 107; initialDepth = 1679.191260; finalDepth = 1669.897710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9244209999999 # Actual altitude: 50 # Commanded vehicle depth:1679.19126 # Seafloor depth:-1724.191260 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1683.802795 # Seafloor depth:-1728.802795 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 120.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 120.00; MB_Bottom_Detect_Filter_Min_Depth = 25.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### ####################################################### # # # Waypoint behavior to get back to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1728.802795 meters looking forward 100.000000 meters along route # Maximum depth: 1734.374957 meters looking forward 100.000000 meters along route # Vehicle depth: 1683.802795 meters behavior waypoint { latitude = 35.736097; longitude = -122.699794; captureRadius = 10; duration = 700; depth = 1683.802795; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1683.802795 meters set by local depth and desired altitude behavior descend { duration = 9019; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1728.802795 meters looking forward 100.000000 meters along route # Maximum depth: 1734.374957 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.736097; longitude = -122.699794; captureRadius = 10; duration = 700; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 216.283984; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 216.283984; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 1; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 108.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.50; MB_Bottom_Detect_Filter_Max_Range = 108.00; MB_Bottom_Detect_Filter_Min_Depth = 22.50; MB_Bottom_Detect_Filter_Max_Depth = 108.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################