# 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: DavidsonSurvey04_70m.rte # Mission File: DavidsonSurvey04_70m.cfg # Distance: 30563.088361 (m) # Estimated Time: 27862 (s) 7.740 (hr) # Abort Time: 26100 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 6784 (s) # Way Points: 15 # Route Points: 274 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 65 (m) # Minimum Vehicle Altitude: 70 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 3350 (m) # Abort Vehicle Depth: 3400 (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 -122.782044 35.659791 -1960.499349 0.000000 3 # 1 -122.789845 35.656406 -2194.898112 799.711969 1 # 2 -122.828857 35.625757 -3138.844971 5701.642984 4 # 3 -122.830618 35.627252 -3073.920654 5931.685790 3 # 4 -122.791614 35.657866 -2258.435974 10830.398792 4 # 5 -122.793375 35.659361 -2303.015564 11060.398356 3 # 6 -122.832379 35.628746 -2969.266602 15959.141090 4 # 7 -122.834140 35.630241 -3069.412415 16189.179814 3 # 8 -122.795136 35.660856 -2279.369202 21087.875395 4 # 9 -122.799265 35.659791 -2373.568848 21479.824754 3 # 10 -122.800427 35.644104 -2571.078491 23222.825245 4 # 11 -122.813429 35.633900 -2938.581055 24855.759233 3 # 12 -122.822962 35.641834 -2780.417603 26088.336979 4 # 13 -122.797793 35.662146 -2414.218506 29292.380834 1 # 14 -122.784694 35.658025 -2035.458822 30563.088361 1 # # A total of 274 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 26100; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 3350.000000; abortDepth = 3400.000000; minAltitude = 70.000000; abortAltitude = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 6784; 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 14 # Segment length 14.278257 meters # Minimum depth: 2035.458822 meters looking forward 100.000000 meters along route # Maximum depth: 2035.458822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 1970.458822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658025; longitude = -122.784694; captureRadius = 10; duration = 14; initialDepth = 1970.458822; finalDepth = 1970.458822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:1970.458822 # Seafloor depth:-2035.458822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 128.503986 meters # Minimum depth: 2041.214182 meters looking forward 100.000000 meters along route # Maximum depth: 2046.150312 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 1976.214182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658071; longitude = -122.784841; captureRadius = 10; duration = 128; initialDepth = 1976.214182; finalDepth = 1970.458822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:1976.214182 # Seafloor depth:-2041.214182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 128.503399 meters # Minimum depth: 2050.929673 meters looking forward 100.000000 meters along route # Maximum depth: 2061.014859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 1985.929673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658488; longitude = -122.786166; captureRadius = 10; duration = 128; initialDepth = 1985.929673; finalDepth = 1976.214182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:1985.929673 # Seafloor depth:-2050.929673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 128.502812 meters # Minimum depth: 2069.603622 meters looking forward 100.000000 meters along route # Maximum depth: 2078.892879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2004.603622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658905; longitude = -122.787490; captureRadius = 10; duration = 128; initialDepth = 2004.603622; finalDepth = 1985.929673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2004.603622 # Seafloor depth:-2069.603622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 128.502224 meters # Minimum depth: 2082.256575 meters looking forward 100.000000 meters along route # Maximum depth: 2121.085091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2017.256575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659321; longitude = -122.788815; captureRadius = 10; duration = 128; initialDepth = 2017.256575; finalDepth = 2004.603622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2017.256575 # Seafloor depth:-2082.256575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 107.059511 meters # Minimum depth: 2141.760156 meters looking forward 100.000000 meters along route # Maximum depth: 2193.820224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2076.760156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659738; longitude = -122.790140; captureRadius = 10; duration = 107; initialDepth = 2076.760156; finalDepth = 2017.256575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2076.760156 # Seafloor depth:-2141.760156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 107.109558 meters # Minimum depth: 2210.800984 meters looking forward 100.000000 meters along route # Maximum depth: 2244.009258 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2145.800984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660085; longitude = -122.791243; captureRadius = 10; duration = 107; initialDepth = 2145.800984; finalDepth = 2076.760156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2145.800984 # Seafloor depth:-2210.800984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 128.500658 meters # Minimum depth: 2272.625300 meters looking forward 100.000000 meters along route # Maximum depth: 2296.373452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2207.625300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660433; longitude = -122.792347; captureRadius = 10; duration = 128; initialDepth = 2207.625300; finalDepth = 2145.800984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2207.6253 # Seafloor depth:-2272.625300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 128.500070 meters # Minimum depth: 2282.645298 meters looking forward 100.000000 meters along route # Maximum depth: 2294.492480 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2217.645298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660849; longitude = -122.793672; captureRadius = 10; duration = 128; initialDepth = 2217.645298; finalDepth = 2207.625300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.847182 # Actual altitude: 76.847182 # Commanded vehicle depth:2217.645298 # Seafloor depth:-2294.492480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 307.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 128.499484 meters # Minimum depth: 2277.192827 meters looking forward 100.000000 meters along route # Maximum depth: 2321.101240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2212.192827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661266; longitude = -122.794997; captureRadius = 10; duration = 128; initialDepth = 2212.192827; finalDepth = 2217.645298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.847182 # Actual altitude: 76.847182 # Commanded vehicle depth:2212.192827 # Seafloor depth:-2277.192827 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 307.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 142.747568 meters # Minimum depth: 2331.207761 meters looking forward 100.000000 meters along route # Maximum depth: 2409.330315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2266.207761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661683; longitude = -122.796321; captureRadius = 10; duration = 142; initialDepth = 2266.207761; finalDepth = 2212.192827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2266.207761 # Seafloor depth:-2331.207761 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 46.442662 meters # Minimum depth: 2409.330315 meters looking forward 100.000000 meters along route # Maximum depth: 2414.218506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2344.330315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662146; longitude = -122.797793; captureRadius = 10; duration = 46; initialDepth = 2344.330315; finalDepth = 2266.207761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.888191 # Actual altitude: 70 # Commanded vehicle depth:2344.330315 # Seafloor depth:-2414.218506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 103.481578 meters # Minimum depth: 2413.590611 meters looking forward 100.000000 meters along route # Maximum depth: 2415.435254 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2348.590611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661852; longitude = -122.798158; captureRadius = 10; duration = 103; initialDepth = 2348.590611; finalDepth = 2344.330315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.888191 # Actual altitude: 70 # Commanded vehicle depth:2348.590611 # Seafloor depth:-2413.590611 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.415268 meters # Minimum depth: 2409.520598 meters looking forward 100.000000 meters along route # Maximum depth: 2416.782620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2344.520598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661196; longitude = -122.798971; captureRadius = 10; duration = 112; initialDepth = 2344.520598; finalDepth = 2348.590611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1041689999997 # Actual altitude: 70.1041689999997 # Commanded vehicle depth:2344.520598 # Seafloor depth:-2414.624767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 280.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.415762 meters # Minimum depth: 2408.311206 meters looking forward 100.000000 meters along route # Maximum depth: 2410.473126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2343.311206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660483; longitude = -122.799854; captureRadius = 10; duration = 112; initialDepth = 2343.311206; finalDepth = 2344.520598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1041689999997 # Actual altitude: 70.1041689999997 # Commanded vehicle depth:2343.311206 # Seafloor depth:-2409.463607 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 280.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.416256 meters # Minimum depth: 2374.589989 meters looking forward 100.000000 meters along route # Maximum depth: 2395.646558 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2309.589989 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659770; longitude = -122.800737; captureRadius = 10; duration = 112; initialDepth = 2309.589989; finalDepth = 2343.311206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.0565689999999 # Actual altitude: 86.0565689999999 # Commanded vehicle depth:2309.589989 # Seafloor depth:-2395.646558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.42; MB_Bottom_Detect_Filter_Max_Range = 344.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 116.457633 meters # Minimum depth: 2324.717130 meters looking forward 100.000000 meters along route # Maximum depth: 2363.558964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2259.717130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659057; longitude = -122.801620; captureRadius = 10; duration = 116; initialDepth = 2259.717130; finalDepth = 2309.589989; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.841834 # Actual altitude: 100 # Commanded vehicle depth:2259.71713 # Seafloor depth:-2363.558964 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 108.376364 meters # Minimum depth: 2321.204144 meters looking forward 100.000000 meters along route # Maximum depth: 2323.549367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2256.204144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658319; longitude = -122.802535; captureRadius = 10; duration = 108; initialDepth = 2256.204144; finalDepth = 2259.717130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.841834 # Actual altitude: 100 # Commanded vehicle depth:2256.204144 # Seafloor depth:-2323.549367 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.417740 meters # Minimum depth: 2324.140551 meters looking forward 100.000000 meters along route # Maximum depth: 2334.176343 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2259.140551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657632; longitude = -122.803386; captureRadius = 10; duration = 112; initialDepth = 2259.140551; finalDepth = 2256.204144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2121529999999 # Actual altitude: 70 # Commanded vehicle depth:2259.140551 # Seafloor depth:-2327.352704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.418234 meters # Minimum depth: 2335.339634 meters looking forward 100.000000 meters along route # Maximum depth: 2348.748017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2270.339634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656919; longitude = -122.804269; captureRadius = 10; duration = 112; initialDepth = 2270.339634; finalDepth = 2259.140551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.2121529999999 # Actual altitude: 70 # Commanded vehicle depth:2270.339634 # Seafloor depth:-2335.339634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.418729 meters # Minimum depth: 2357.844207 meters looking forward 100.000000 meters along route # Maximum depth: 2389.330882 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2292.844207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656207; longitude = -122.805153; captureRadius = 10; duration = 112; initialDepth = 2292.844207; finalDepth = 2270.339634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2292.844207 # Seafloor depth:-2357.844207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.419223 meters # Minimum depth: 2406.821673 meters looking forward 100.000000 meters along route # Maximum depth: 2444.932144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2341.821673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655494; longitude = -122.806036; captureRadius = 10; duration = 112; initialDepth = 2341.821673; finalDepth = 2292.844207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2341.821673 # Seafloor depth:-2406.821673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.419718 meters # Minimum depth: 2445.318552 meters looking forward 100.000000 meters along route # Maximum depth: 2476.336659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2380.318552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654781; longitude = -122.806919; captureRadius = 10; duration = 112; initialDepth = 2380.318552; finalDepth = 2341.821673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2380.318552 # Seafloor depth:-2445.318552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.420212 meters # Minimum depth: 2498.963570 meters looking forward 100.000000 meters along route # Maximum depth: 2538.558096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2433.963570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654069; longitude = -122.807802; captureRadius = 10; duration = 112; initialDepth = 2433.963570; finalDepth = 2380.318552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2433.96357 # Seafloor depth:-2498.963570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 122.563747 meters # Minimum depth: 2547.467948 meters looking forward 100.000000 meters along route # Maximum depth: 2604.639784 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2482.467948 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653356; longitude = -122.808685; captureRadius = 10; duration = 122; initialDepth = 2482.467948; finalDepth = 2433.963570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2482.467948 # Seafloor depth:-2547.467948 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 102.278162 meters # Minimum depth: 2608.372857 meters looking forward 100.000000 meters along route # Maximum depth: 2629.886143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2543.372857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652579; longitude = -122.809648; captureRadius = 10; duration = 102; initialDepth = 2543.372857; finalDepth = 2482.467948; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2543.372857 # Seafloor depth:-2608.372857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.421696 meters # Minimum depth: 2645.574347 meters looking forward 100.000000 meters along route # Maximum depth: 2682.831267 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2580.574347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651930; longitude = -122.810451; captureRadius = 10; duration = 112; initialDepth = 2580.574347; finalDepth = 2543.372857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2580.574347 # Seafloor depth:-2645.574347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.422191 meters # Minimum depth: 2684.457523 meters looking forward 100.000000 meters along route # Maximum depth: 2698.001084 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2619.457523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651218; longitude = -122.811334; captureRadius = 10; duration = 112; initialDepth = 2619.457523; finalDepth = 2580.574347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2619.457523 # Seafloor depth:-2684.457523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.422685 meters # Minimum depth: 2703.772675 meters looking forward 100.000000 meters along route # Maximum depth: 2714.626809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2638.772675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.650505; longitude = -122.812217; captureRadius = 10; duration = 112; initialDepth = 2638.772675; finalDepth = 2619.457523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2638.772675 # Seafloor depth:-2703.772675 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 117.673653 meters # Minimum depth: 2717.203912 meters looking forward 100.000000 meters along route # Maximum depth: 2730.338120 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2652.203912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649792; longitude = -122.813101; captureRadius = 10; duration = 117; initialDepth = 2652.203912; finalDepth = 2638.772675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2652.203912 # Seafloor depth:-2717.203912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 107.173201 meters # Minimum depth: 2730.812321 meters looking forward 100.000000 meters along route # Maximum depth: 2741.148430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2665.812321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649046; longitude = -122.814025; captureRadius = 10; duration = 107; initialDepth = 2665.812321; finalDepth = 2652.203912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2665.812321 # Seafloor depth:-2730.812321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.424169 meters # Minimum depth: 2745.145890 meters looking forward 100.000000 meters along route # Maximum depth: 2759.012041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2680.145890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648367; longitude = -122.814867; captureRadius = 10; duration = 112; initialDepth = 2680.145890; finalDepth = 2665.812321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2680.14589 # Seafloor depth:-2745.145890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.424664 meters # Minimum depth: 2760.092500 meters looking forward 100.000000 meters along route # Maximum depth: 2764.096592 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2695.092500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647654; longitude = -122.815750; captureRadius = 10; duration = 112; initialDepth = 2695.092500; finalDepth = 2680.145890; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2695.0925 # Seafloor depth:-2760.092500 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.425158 meters # Minimum depth: 2770.511082 meters looking forward 100.000000 meters along route # Maximum depth: 2774.218314 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2705.511082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.646942; longitude = -122.816633; captureRadius = 10; duration = 112; initialDepth = 2705.511082; finalDepth = 2695.092500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2705.511082 # Seafloor depth:-2770.511082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.783346 meters # Minimum depth: 2776.575557 meters looking forward 100.000000 meters along route # Maximum depth: 2788.284757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2711.575557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.646229; longitude = -122.817516; captureRadius = 10; duration = 112; initialDepth = 2711.575557; finalDepth = 2705.511082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2711.575557 # Seafloor depth:-2776.575557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.068455 meters # Minimum depth: 2788.311329 meters looking forward 100.000000 meters along route # Maximum depth: 2792.641971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2723.311329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645514; longitude = -122.818402; captureRadius = 10; duration = 112; initialDepth = 2723.311329; finalDepth = 2711.575557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2723.311329 # Seafloor depth:-2788.311329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.426643 meters # Minimum depth: 2791.709312 meters looking forward 100.000000 meters along route # Maximum depth: 2797.555648 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2726.709312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644804; longitude = -122.819282; captureRadius = 10; duration = 112; initialDepth = 2726.709312; finalDepth = 2723.311329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6423250000003 # Actual altitude: 70 # Commanded vehicle depth:2726.709312 # Seafloor depth:-2792.351637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 123.780159 meters # Minimum depth: 2796.360847 meters looking forward 100.000000 meters along route # Maximum depth: 2797.819549 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2731.360847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644091; longitude = -122.820166; captureRadius = 10; duration = 123; initialDepth = 2731.360847; finalDepth = 2726.709312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6423250000003 # Actual altitude: 70 # Commanded vehicle depth:2731.360847 # Seafloor depth:-2796.360847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 101.074609 meters # Minimum depth: 2791.520960 meters looking forward 100.000000 meters along route # Maximum depth: 2797.391951 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2726.520960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.643306; longitude = -122.821138; captureRadius = 10; duration = 101; initialDepth = 2726.520960; finalDepth = 2731.360847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.8709910000002 # Actual altitude: 70.8709910000002 # Commanded vehicle depth:2726.52096 # Seafloor depth:-2797.391951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 283.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.35; MB_Bottom_Detect_Filter_Max_Range = 283.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 212.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 131.161938 meters # Minimum depth: 2772.929857 meters looking forward 100.000000 meters along route # Maximum depth: 2801.916425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2707.929857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642665; longitude = -122.821932; captureRadius = 10; duration = 131; initialDepth = 2707.929857; finalDepth = 2726.520960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.9865679999998 # Actual altitude: 93.9865679999998 # Commanded vehicle depth:2707.929857 # Seafloor depth:-2801.916425 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 375.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.59; MB_Bottom_Detect_Filter_Max_Range = 375.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 76.115923 meters # Minimum depth: 2772.904649 meters looking forward 100.000000 meters along route # Maximum depth: 2780.417603 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2707.904649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641834; longitude = -122.822962; captureRadius = 10; duration = 76; initialDepth = 2707.904649; finalDepth = 2707.929857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.9865679999998 # Actual altitude: 93.9865679999998 # Commanded vehicle depth:2707.904649 # Seafloor depth:-2780.417603 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 375.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.59; MB_Bottom_Detect_Filter_Max_Range = 375.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.180795 meters # Minimum depth: 2764.100649 meters looking forward 100.000000 meters along route # Maximum depth: 2776.833054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2699.100649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641344; longitude = -122.822373; captureRadius = 10; duration = 114; initialDepth = 2699.100649; finalDepth = 2707.904649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0272060000002 # Actual altitude: 74.0272060000002 # Commanded vehicle depth:2699.100649 # Seafloor depth:-2773.127855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.61; MB_Bottom_Detect_Filter_Max_Range = 296.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.181305 meters # Minimum depth: 2736.011069 meters looking forward 100.000000 meters along route # Maximum depth: 2760.770313 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2671.011069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640609; longitude = -122.821490; captureRadius = 10; duration = 114; initialDepth = 2671.011069; finalDepth = 2699.100649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7592439999999 # Actual altitude: 89.7592439999999 # Commanded vehicle depth:2671.011069 # Seafloor depth:-2760.770313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 359.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.90; MB_Bottom_Detect_Filter_Max_Range = 359.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.181813 meters # Minimum depth: 2707.530960 meters looking forward 100.000000 meters along route # Maximum depth: 2710.090304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2642.530960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639874; longitude = -122.820607; captureRadius = 10; duration = 114; initialDepth = 2642.530960; finalDepth = 2671.011069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.7592439999999 # Actual altitude: 89.7592439999999 # Commanded vehicle depth:2642.53096 # Seafloor depth:-2710.090304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 359.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.90; MB_Bottom_Detect_Filter_Max_Range = 359.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.182323 meters # Minimum depth: 2711.963805 meters looking forward 100.000000 meters along route # Maximum depth: 2719.556679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2646.963805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639139; longitude = -122.819724; captureRadius = 10; duration = 114; initialDepth = 2646.963805; finalDepth = 2642.530960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5593439999998 # Actual altitude: 70 # Commanded vehicle depth:2646.963805 # Seafloor depth:-2711.963805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.182832 meters # Minimum depth: 2719.344383 meters looking forward 100.000000 meters along route # Maximum depth: 2722.311477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2654.344383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638404; longitude = -122.818841; captureRadius = 10; duration = 114; initialDepth = 2654.344383; finalDepth = 2646.963805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2654.344383 # Seafloor depth:-2719.344383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.183342 meters # Minimum depth: 2726.535832 meters looking forward 100.000000 meters along route # Maximum depth: 2728.374744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2661.535832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.637669; longitude = -122.817958; captureRadius = 10; duration = 114; initialDepth = 2661.535832; finalDepth = 2654.344383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0645949999998 # Actual altitude: 70 # Commanded vehicle depth:2661.535832 # Seafloor depth:-2726.600427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.183851 meters # Minimum depth: 2722.714207 meters looking forward 100.000000 meters along route # Maximum depth: 2744.774683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2657.714207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636934; longitude = -122.817075; captureRadius = 10; duration = 114; initialDepth = 2657.714207; finalDepth = 2661.535832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0645949999998 # Actual altitude: 70 # Commanded vehicle depth:2657.714207 # Seafloor depth:-2722.714207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.184359 meters # Minimum depth: 2746.978794 meters looking forward 100.000000 meters along route # Maximum depth: 2777.146413 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2681.978794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636199; longitude = -122.816191; captureRadius = 10; duration = 114; initialDepth = 2681.978794; finalDepth = 2657.714207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2681.978794 # Seafloor depth:-2746.978794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.184870 meters # Minimum depth: 2809.681377 meters looking forward 100.000000 meters along route # Maximum depth: 2863.064996 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2744.681377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.635464; longitude = -122.815308; captureRadius = 10; duration = 114; initialDepth = 2744.681377; finalDepth = 2681.978794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2744.681377 # Seafloor depth:-2809.681377 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 128.816333 meters # Minimum depth: 2881.768819 meters looking forward 100.000000 meters along route # Maximum depth: 2935.178345 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2816.768819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634729; longitude = -122.814425; captureRadius = 10; duration = 128; initialDepth = 2816.768819; finalDepth = 2744.681377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2816.768819 # Seafloor depth:-2881.768819 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 41.245475 meters # Minimum depth: 2930.391674 meters looking forward 100.000000 meters along route # Maximum depth: 2938.581055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2865.391674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.633900; longitude = -122.813429; captureRadius = 10; duration = 41; initialDepth = 2865.391674; finalDepth = 2816.768819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.1893810000001 # Actual altitude: 73.1893810000001 # Commanded vehicle depth:2865.391674 # Seafloor depth:-2938.581055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.76; 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 = 292.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 121.444079 meters # Minimum depth: 2891.572916 meters looking forward 100.000000 meters along route # Maximum depth: 2923.969096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2826.572916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634158; longitude = -122.813101; captureRadius = 10; duration = 121; initialDepth = 2826.572916; finalDepth = 2865.391674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.3961799999997 # Actual altitude: 97.3961799999997 # Commanded vehicle depth:2826.572916 # Seafloor depth:-2923.969096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 389.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.96; MB_Bottom_Detect_Filter_Max_Range = 389.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.383955 meters # Minimum depth: 2871.803808 meters looking forward 100.000000 meters along route # Maximum depth: 2887.861934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2806.803808 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634917; longitude = -122.812134; captureRadius = 10; duration = 100; initialDepth = 2806.803808; finalDepth = 2826.572916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.3961799999997 # Actual altitude: 97.3961799999997 # Commanded vehicle depth:2806.803808 # Seafloor depth:-2887.861934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 389.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.96; MB_Bottom_Detect_Filter_Max_Range = 389.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 292.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 111.606057 meters # Minimum depth: 2823.320647 meters looking forward 100.000000 meters along route # Maximum depth: 2863.784730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2758.320647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.635544; longitude = -122.811334; captureRadius = 10; duration = 111; initialDepth = 2758.320647; finalDepth = 2806.803808; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.464083 # Actual altitude: 100 # Commanded vehicle depth:2758.320647 # Seafloor depth:-2863.784730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.220025 meters # Minimum depth: 2797.987522 meters looking forward 100.000000 meters along route # Maximum depth: 2823.134681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2732.987522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636241; longitude = -122.810446; captureRadius = 10; duration = 110; initialDepth = 2732.987522; finalDepth = 2758.320647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.464083 # Actual altitude: 100 # Commanded vehicle depth:2732.987522 # Seafloor depth:-2823.134681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.912310 meters # Minimum depth: 2766.541336 meters looking forward 100.000000 meters along route # Maximum depth: 2793.033187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2701.541336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636930; longitude = -122.809568; captureRadius = 10; duration = 110; initialDepth = 2701.541336; finalDepth = 2732.987522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4918510000002 # Actual altitude: 91.4918510000002 # Commanded vehicle depth:2701.541336 # Seafloor depth:-2793.033187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 365.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.911822 meters # Minimum depth: 2763.605353 meters looking forward 100.000000 meters along route # Maximum depth: 2765.636511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2698.605353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.637623; longitude = -122.808685; captureRadius = 10; duration = 110; initialDepth = 2698.605353; finalDepth = 2701.541336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4918510000002 # Actual altitude: 91.4918510000002 # Commanded vehicle depth:2698.605353 # Seafloor depth:-2765.636511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.60; MB_Bottom_Detect_Filter_Max_Range = 365.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.911335 meters # Minimum depth: 2725.135051 meters looking forward 100.000000 meters along route # Maximum depth: 2739.445551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2660.135051 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638316; longitude = -122.807802; captureRadius = 10; duration = 110; initialDepth = 2660.135051; finalDepth = 2698.605353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3104999999996 # Actual altitude: 79.3104999999996 # Commanded vehicle depth:2660.135051 # Seafloor depth:-2739.445551 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 317.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.910846 meters # Minimum depth: 2716.162963 meters looking forward 100.000000 meters along route # Maximum depth: 2721.429489 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2651.162963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639009; longitude = -122.806919; captureRadius = 10; duration = 110; initialDepth = 2651.162963; finalDepth = 2660.135051; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.3104999999996 # Actual altitude: 79.3104999999996 # Commanded vehicle depth:2651.162963 # Seafloor depth:-2721.429489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.72; MB_Bottom_Detect_Filter_Max_Range = 317.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.910359 meters # Minimum depth: 2669.837910 meters looking forward 100.000000 meters along route # Maximum depth: 2690.371291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2604.837910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639702; longitude = -122.806036; captureRadius = 10; duration = 110; initialDepth = 2604.837910; finalDepth = 2651.162963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5333809999997 # Actual altitude: 85.5333809999997 # Commanded vehicle depth:2604.83791 # Seafloor depth:-2690.371291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.21; MB_Bottom_Detect_Filter_Max_Range = 342.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 112.504768 meters # Minimum depth: 2665.026811 meters looking forward 100.000000 meters along route # Maximum depth: 2667.743318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2600.026811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640395; longitude = -122.805153; captureRadius = 10; duration = 112; initialDepth = 2600.026811; finalDepth = 2604.837910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.5333809999997 # Actual altitude: 85.5333809999997 # Commanded vehicle depth:2600.026811 # Seafloor depth:-2667.743318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.21; MB_Bottom_Detect_Filter_Max_Range = 342.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.314487 meters # Minimum depth: 2661.350904 meters looking forward 100.000000 meters along route # Maximum depth: 2664.995701 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2596.350904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641098; longitude = -122.804257; captureRadius = 10; duration = 109; initialDepth = 2596.350904; finalDepth = 2600.026811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.6447969999999 # Actual altitude: 70 # Commanded vehicle depth:2596.350904 # Seafloor depth:-2664.995701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.908896 meters # Minimum depth: 2633.660256 meters looking forward 100.000000 meters along route # Maximum depth: 2656.411190 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2568.660256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641781; longitude = -122.803386; captureRadius = 10; duration = 110; initialDepth = 2568.660256; finalDepth = 2596.350904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7509339999997 # Actual altitude: 87.7509339999997 # Commanded vehicle depth:2568.660256 # Seafloor depth:-2656.411190 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 351.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 133.078456 meters # Minimum depth: 2613.366350 meters looking forward 100.000000 meters along route # Maximum depth: 2631.714895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2548.366350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642475; longitude = -122.802503; captureRadius = 10; duration = 133; initialDepth = 2548.366350; finalDepth = 2568.660256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.7509339999997 # Actual altitude: 87.7509339999997 # Commanded vehicle depth:2548.36635 # Seafloor depth:-2631.714895 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 351.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.10; MB_Bottom_Detect_Filter_Max_Range = 351.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 263.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 127.671118 meters # Minimum depth: 2575.185812 meters looking forward 100.000000 meters along route # Maximum depth: 2607.939910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2510.185812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.643306; longitude = -122.801444; captureRadius = 10; duration = 127; initialDepth = 2510.185812; finalDepth = 2548.366350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.7540979999999 # Actual altitude: 97.7540979999999 # Commanded vehicle depth:2510.185812 # Seafloor depth:-2607.939910 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.10; MB_Bottom_Detect_Filter_Max_Range = 391.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 58.538366 meters # Minimum depth: 2565.717376 meters looking forward 100.000000 meters along route # Maximum depth: 2575.185812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2500.717376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644104; longitude = -122.800427; captureRadius = 10; duration = 58; initialDepth = 2500.717376; finalDepth = 2510.185812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.7540979999999 # Actual altitude: 97.7540979999999 # Commanded vehicle depth:2500.717376 # Seafloor depth:-2571.078491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.10; MB_Bottom_Detect_Filter_Max_Range = 391.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185505 meters # Minimum depth: 2532.966624 meters looking forward 100.000000 meters along route # Maximum depth: 2554.160241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2467.966624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644631; longitude = -122.800388; captureRadius = 10; duration = 147; initialDepth = 2467.966624; finalDepth = 2500.717376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1936169999999 # Actual altitude: 86.1936169999999 # Commanded vehicle depth:2467.966624 # Seafloor depth:-2554.160241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 344.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185530 meters # Minimum depth: 2533.732742 meters looking forward 100.000000 meters along route # Maximum depth: 2543.132410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2468.732742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645956; longitude = -122.800290; captureRadius = 10; duration = 147; initialDepth = 2468.732742; finalDepth = 2467.966624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.1936169999999 # Actual altitude: 86.1936169999999 # Commanded vehicle depth:2468.732742 # Seafloor depth:-2533.732742 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.48; MB_Bottom_Detect_Filter_Max_Range = 344.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185554 meters # Minimum depth: 2536.941757 meters looking forward 100.000000 meters along route # Maximum depth: 2543.654381 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2471.941757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647280; longitude = -122.800192; captureRadius = 10; duration = 147; initialDepth = 2471.941757; finalDepth = 2468.732742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.7126239999998 # Actual altitude: 71.7126239999998 # Commanded vehicle depth:2471.941757 # Seafloor depth:-2543.654381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.69; MB_Bottom_Detect_Filter_Max_Range = 286.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185578 meters # Minimum depth: 2523.419265 meters looking forward 100.000000 meters along route # Maximum depth: 2530.545917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2458.419265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648605; longitude = -122.800094; captureRadius = 10; duration = 147; initialDepth = 2458.419265; finalDepth = 2471.941757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.1266519999999 # Actual altitude: 72.1266519999999 # Commanded vehicle depth:2458.419265 # Seafloor depth:-2530.545917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.85; MB_Bottom_Detect_Filter_Max_Range = 288.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185602 meters # Minimum depth: 2485.050337 meters looking forward 100.000000 meters along route # Maximum depth: 2508.682889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2420.050337 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649930; longitude = -122.799995; captureRadius = 10; duration = 147; initialDepth = 2420.050337; finalDepth = 2458.419265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.632552 # Actual altitude: 88.632552 # Commanded vehicle depth:2420.050337 # Seafloor depth:-2508.682889 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 354.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.45; MB_Bottom_Detect_Filter_Max_Range = 354.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185625 meters # Minimum depth: 2429.061375 meters looking forward 100.000000 meters along route # Maximum depth: 2468.138560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2364.061375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651254; longitude = -122.799897; captureRadius = 10; duration = 147; initialDepth = 2364.061375; finalDepth = 2420.050337; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.077185 # Actual altitude: 100 # Commanded vehicle depth:2364.061375 # Seafloor depth:-2468.138560 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185650 meters # Minimum depth: 2359.750264 meters looking forward 100.000000 meters along route # Maximum depth: 2420.032637 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2294.750264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652579; longitude = -122.799799; captureRadius = 10; duration = 147; initialDepth = 2294.750264; finalDepth = 2364.061375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.282373 # Actual altitude: 100 # Commanded vehicle depth:2294.750264 # Seafloor depth:-2420.032637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185674 meters # Minimum depth: 2301.002679 meters looking forward 100.000000 meters along route # Maximum depth: 2342.104467 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2236.002679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653904; longitude = -122.799701; captureRadius = 10; duration = 147; initialDepth = 2236.002679; finalDepth = 2294.750264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 125.282373 # Actual altitude: 100 # Commanded vehicle depth:2236.002679 # Seafloor depth:-2342.104467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 147.185698 meters # Minimum depth: 2273.510518 meters looking forward 100.000000 meters along route # Maximum depth: 2287.866242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2208.510518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655228; longitude = -122.799603; captureRadius = 10; duration = 147; initialDepth = 2208.510518; finalDepth = 2236.002679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.101788 # Actual altitude: 100 # Commanded vehicle depth:2208.510518 # Seafloor depth:-2287.866242 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 138.781691 meters # Minimum depth: 2274.919524 meters looking forward 100.000000 meters along route # Maximum depth: 2289.604803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2209.919524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656553; longitude = -122.799505; captureRadius = 10; duration = 138; initialDepth = 2209.919524; finalDepth = 2208.510518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.355724 # Actual altitude: 79.355724 # Commanded vehicle depth:2209.919524 # Seafloor depth:-2274.919524 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 317.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.74; MB_Bottom_Detect_Filter_Max_Range = 317.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 106.527859 meters # Minimum depth: 2293.999486 meters looking forward 100.000000 meters along route # Maximum depth: 2304.822846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2228.999486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657802; longitude = -122.799412; captureRadius = 10; duration = 106; initialDepth = 2228.999486; finalDepth = 2209.919524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2228.999486 # Seafloor depth:-2293.999486 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 114.482159 meters # Minimum depth: 2320.565155 meters looking forward 100.000000 meters along route # Maximum depth: 2368.968229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2255.565155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658761; longitude = -122.799341; captureRadius = 10; duration = 114; initialDepth = 2255.565155; finalDepth = 2228.999486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2255.565155 # Seafloor depth:-2320.565155 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 27.928982 meters # Minimum depth: 2336.153159 meters looking forward 100.000000 meters along route # Maximum depth: 2373.568848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2271.153159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659791; longitude = -122.799265; captureRadius = 10; duration = 27; initialDepth = 2271.153159; finalDepth = 2255.565155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.415689 # Actual altitude: 100 # Commanded vehicle depth:2271.153159 # Seafloor depth:-2373.568848 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 125.746020 meters # Minimum depth: 2331.818726 meters looking forward 100.000000 meters along route # Maximum depth: 2367.697705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2266.818726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659867; longitude = -122.798971; captureRadius = 10; duration = 125; initialDepth = 2266.818726; finalDepth = 2271.153159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.415689 # Actual altitude: 100 # Commanded vehicle depth:2266.818726 # Seafloor depth:-2367.697705 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 125.745541 meters # Minimum depth: 2290.379691 meters looking forward 100.000000 meters along route # Maximum depth: 2323.516839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2225.379691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660209; longitude = -122.797646; captureRadius = 10; duration = 125; initialDepth = 2225.379691; finalDepth = 2266.818726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.878979 # Actual altitude: 100 # Commanded vehicle depth:2225.379691 # Seafloor depth:-2323.516839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 112.528816 meters # Minimum depth: 2281.542224 meters looking forward 100.000000 meters along route # Maximum depth: 2289.775506 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2216.542224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660550; longitude = -122.796321; captureRadius = 10; duration = 112; initialDepth = 2216.542224; finalDepth = 2225.379691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.1371479999998 # Actual altitude: 98.1371479999998 # Commanded vehicle depth:2216.542224 # Seafloor depth:-2289.775506 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 392.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.25; MB_Bottom_Detect_Filter_Max_Range = 392.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 93.419211 meters # Minimum depth: 2279.369202 meters looking forward 100.000000 meters along route # Maximum depth: 2283.997431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2214.369202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660856; longitude = -122.795136; captureRadius = 10; duration = 93; initialDepth = 2214.369202; finalDepth = 2216.542224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.2332820000001 # Actual altitude: 73.2332820000001 # Commanded vehicle depth:2214.369202 # Seafloor depth:-2279.369202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.29; MB_Bottom_Detect_Filter_Max_Range = 292.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.904255 meters # Minimum depth: 2273.702522 meters looking forward 100.000000 meters along route # Maximum depth: 2278.796240 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2208.702522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660272; longitude = -122.795880; captureRadius = 10; duration = 110; initialDepth = 2208.702522; finalDepth = 2214.369202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0937180000001 # Actual altitude: 70.0937180000001 # Commanded vehicle depth:2208.702522 # Seafloor depth:-2278.796240 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 280.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.904743 meters # Minimum depth: 2276.467666 meters looking forward 100.000000 meters along route # Maximum depth: 2277.385955 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2211.467666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659579; longitude = -122.796763; captureRadius = 10; duration = 110; initialDepth = 2211.467666; finalDepth = 2208.702522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0937180000001 # Actual altitude: 70.0937180000001 # Commanded vehicle depth:2211.467666 # Seafloor depth:-2277.385955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.04; MB_Bottom_Detect_Filter_Max_Range = 280.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.905231 meters # Minimum depth: 2285.848373 meters looking forward 100.000000 meters along route # Maximum depth: 2299.103129 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2220.848373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658886; longitude = -122.797646; captureRadius = 10; duration = 110; initialDepth = 2220.848373; finalDepth = 2211.467666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9182890000002 # Actual altitude: 70 # Commanded vehicle depth:2220.848373 # Seafloor depth:-2285.848373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 121.053716 meters # Minimum depth: 2290.748944 meters looking forward 100.000000 meters along route # Maximum depth: 2296.078472 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2225.748944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658193; longitude = -122.798529; captureRadius = 10; duration = 121; initialDepth = 2225.748944; finalDepth = 2220.848373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.57096 # Actual altitude: 70 # Commanded vehicle depth:2225.748944 # Seafloor depth:-2295.319904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 100.758208 meters # Minimum depth: 2266.485532 meters looking forward 100.000000 meters along route # Maximum depth: 2288.688346 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2201.485532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657436; longitude = -122.799493; captureRadius = 10; duration = 100; initialDepth = 2201.485532; finalDepth = 2225.748944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.2028139999998 # Actual altitude: 87.2028139999998 # Commanded vehicle depth:2201.485532 # Seafloor depth:-2288.688346 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 348.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.88; MB_Bottom_Detect_Filter_Max_Range = 348.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 111.186724 meters # Minimum depth: 2220.378226 meters looking forward 100.000000 meters along route # Maximum depth: 2256.098593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2155.378226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656806; longitude = -122.800295; captureRadius = 10; duration = 111; initialDepth = 2155.378226; finalDepth = 2201.485532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.720367 # Actual altitude: 100 # Commanded vehicle depth:2155.378226 # Seafloor depth:-2256.098593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.627152 meters # Minimum depth: 2220.333326 meters looking forward 100.000000 meters along route # Maximum depth: 2226.509410 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2155.333326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656111; longitude = -122.801181; captureRadius = 10; duration = 110; initialDepth = 2155.333326; finalDepth = 2155.378226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.720367 # Actual altitude: 100 # Commanded vehicle depth:2155.333326 # Seafloor depth:-2220.333326 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.907669 meters # Minimum depth: 2233.944036 meters looking forward 100.000000 meters along route # Maximum depth: 2274.238720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2168.944036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655420; longitude = -122.802062; captureRadius = 10; duration = 110; initialDepth = 2168.944036; finalDepth = 2155.333326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2168.944036 # Seafloor depth:-2233.944036 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.908157 meters # Minimum depth: 2277.521376 meters looking forward 100.000000 meters along route # Maximum depth: 2308.604957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2212.521376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654727; longitude = -122.802945; captureRadius = 10; duration = 110; initialDepth = 2212.521376; finalDepth = 2168.944036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2212.521376 # Seafloor depth:-2277.521376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.908645 meters # Minimum depth: 2336.782548 meters looking forward 100.000000 meters along route # Maximum depth: 2370.591353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2271.782548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654034; longitude = -122.803828; captureRadius = 10; duration = 110; initialDepth = 2271.782548; finalDepth = 2212.521376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2271.782548 # Seafloor depth:-2336.782548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.909133 meters # Minimum depth: 2373.471905 meters looking forward 100.000000 meters along route # Maximum depth: 2404.491832 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2308.471905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653340; longitude = -122.804711; captureRadius = 10; duration = 110; initialDepth = 2308.471905; finalDepth = 2271.782548; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2308.471905 # Seafloor depth:-2373.471905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.909621 meters # Minimum depth: 2433.015621 meters looking forward 100.000000 meters along route # Maximum depth: 2469.390660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2368.015621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652647; longitude = -122.805594; captureRadius = 10; duration = 110; initialDepth = 2368.015621; finalDepth = 2308.471905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2368.015621 # Seafloor depth:-2433.015621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 111.976283 meters # Minimum depth: 2480.806635 meters looking forward 100.000000 meters along route # Maximum depth: 2516.142940 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2415.806635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651954; longitude = -122.806477; captureRadius = 10; duration = 111; initialDepth = 2415.806635; finalDepth = 2368.015621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2415.806635 # Seafloor depth:-2480.806635 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.844422 meters # Minimum depth: 2516.623176 meters looking forward 100.000000 meters along route # Maximum depth: 2554.586821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2451.623176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651254; longitude = -122.807369; captureRadius = 10; duration = 109; initialDepth = 2451.623176; finalDepth = 2415.806635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2451.623176 # Seafloor depth:-2516.623176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.911084 meters # Minimum depth: 2573.773585 meters looking forward 100.000000 meters along route # Maximum depth: 2614.766802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2508.773585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.650568; longitude = -122.808243; captureRadius = 10; duration = 110; initialDepth = 2508.773585; finalDepth = 2451.623176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2508.773585 # Seafloor depth:-2573.773585 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.911573 meters # Minimum depth: 2619.336985 meters looking forward 100.000000 meters along route # Maximum depth: 2647.241519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2554.336985 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649875; longitude = -122.809127; captureRadius = 10; duration = 110; initialDepth = 2554.336985; finalDepth = 2508.773585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2554.336985 # Seafloor depth:-2619.336985 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.912060 meters # Minimum depth: 2669.421591 meters looking forward 100.000000 meters along route # Maximum depth: 2706.429580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2604.421591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649181; longitude = -122.810010; captureRadius = 10; duration = 110; initialDepth = 2604.421591; finalDepth = 2554.336985; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2604.421591 # Seafloor depth:-2669.421591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.912548 meters # Minimum depth: 2710.970737 meters looking forward 100.000000 meters along route # Maximum depth: 2719.106640 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2645.970737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648488; longitude = -122.810893; captureRadius = 10; duration = 110; initialDepth = 2645.970737; finalDepth = 2604.421591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2645.970737 # Seafloor depth:-2710.970737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.913035 meters # Minimum depth: 2726.148569 meters looking forward 100.000000 meters along route # Maximum depth: 2727.654171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2661.148569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647795; longitude = -122.811776; captureRadius = 10; duration = 110; initialDepth = 2661.148569; finalDepth = 2645.970737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2661.148569 # Seafloor depth:-2726.148569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 112.765892 meters # Minimum depth: 2729.143987 meters looking forward 100.000000 meters along route # Maximum depth: 2733.161817 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2664.143987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647102; longitude = -122.812659; captureRadius = 10; duration = 112; initialDepth = 2664.143987; finalDepth = 2661.148569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2664.143987 # Seafloor depth:-2729.143987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.061644 meters # Minimum depth: 2731.709972 meters looking forward 100.000000 meters along route # Maximum depth: 2734.622080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2666.709972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.646397; longitude = -122.813557; captureRadius = 10; duration = 109; initialDepth = 2666.709972; finalDepth = 2664.143987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.9402649999997 # Actual altitude: 70 # Commanded vehicle depth:2666.709972 # Seafloor depth:-2732.650237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.914500 meters # Minimum depth: 2730.518492 meters looking forward 100.000000 meters along route # Maximum depth: 2737.379065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2665.518492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645715; longitude = -122.814425; captureRadius = 10; duration = 110; initialDepth = 2665.518492; finalDepth = 2666.709972; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7719509999997 # Actual altitude: 70 # Commanded vehicle depth:2665.518492 # Seafloor depth:-2733.290443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.914987 meters # Minimum depth: 2737.690662 meters looking forward 100.000000 meters along route # Maximum depth: 2741.348651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2672.690662 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645022; longitude = -122.815308; captureRadius = 10; duration = 110; initialDepth = 2672.690662; finalDepth = 2665.518492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.7719509999997 # Actual altitude: 70 # Commanded vehicle depth:2672.690662 # Seafloor depth:-2737.690662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.915476 meters # Minimum depth: 2740.349286 meters looking forward 100.000000 meters along route # Maximum depth: 2741.997918 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2675.349286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644329; longitude = -122.816191; captureRadius = 10; duration = 110; initialDepth = 2675.349286; finalDepth = 2672.690662; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2675.349286 # Seafloor depth:-2740.349286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.915964 meters # Minimum depth: 2742.056726 meters looking forward 100.000000 meters along route # Maximum depth: 2747.935138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2677.056726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.643636; longitude = -122.817075; captureRadius = 10; duration = 110; initialDepth = 2677.056726; finalDepth = 2675.349286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2677.056726 # Seafloor depth:-2742.056726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.916451 meters # Minimum depth: 2710.741569 meters looking forward 100.000000 meters along route # Maximum depth: 2737.814696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2645.741569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642943; longitude = -122.817958; captureRadius = 10; duration = 110; initialDepth = 2645.741569; finalDepth = 2677.056726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.0731270000001 # Actual altitude: 92.0731270000001 # Commanded vehicle depth:2645.741569 # Seafloor depth:-2737.814696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 368.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.83; MB_Bottom_Detect_Filter_Max_Range = 368.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 113.555548 meters # Minimum depth: 2701.000617 meters looking forward 100.000000 meters along route # Maximum depth: 2720.331282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2636.000617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642250; longitude = -122.818841; captureRadius = 10; duration = 113; initialDepth = 2636.000617; finalDepth = 2645.741569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.0731270000001 # Actual altitude: 92.0731270000001 # Commanded vehicle depth:2636.000617 # Seafloor depth:-2701.000617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 368.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.83; MB_Bottom_Detect_Filter_Max_Range = 368.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 108.278819 meters # Minimum depth: 2721.224796 meters looking forward 100.000000 meters along route # Maximum depth: 2740.155485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2656.224796 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641540; longitude = -122.819745; captureRadius = 10; duration = 108; initialDepth = 2656.224796; finalDepth = 2636.000617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2656.224796 # Seafloor depth:-2721.224796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.917916 meters # Minimum depth: 2739.314415 meters looking forward 100.000000 meters along route # Maximum depth: 2751.955128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2674.314415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640863; longitude = -122.820607; captureRadius = 10; duration = 110; initialDepth = 2674.314415; finalDepth = 2656.224796; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0525050000001 # Actual altitude: 74.0525050000001 # Commanded vehicle depth:2674.314415 # Seafloor depth:-2748.366920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.62; MB_Bottom_Detect_Filter_Max_Range = 296.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.918404 meters # Minimum depth: 2698.461605 meters looking forward 100.000000 meters along route # Maximum depth: 2735.296352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2633.461605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640170; longitude = -122.821490; captureRadius = 10; duration = 110; initialDepth = 2633.461605; finalDepth = 2674.314415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.834747 # Actual altitude: 100 # Commanded vehicle depth:2633.461605 # Seafloor depth:-2735.296352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.918891 meters # Minimum depth: 2631.774303 meters looking forward 100.000000 meters along route # Maximum depth: 2671.250390 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2566.774303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639477; longitude = -122.822373; captureRadius = 10; duration = 110; initialDepth = 2566.774303; finalDepth = 2633.461605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.476087 # Actual altitude: 100 # Commanded vehicle depth:2566.774303 # Seafloor depth:-2671.250390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.919380 meters # Minimum depth: 2632.836725 meters looking forward 100.000000 meters along route # Maximum depth: 2635.621281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2567.836725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638784; longitude = -122.823256; captureRadius = 10; duration = 110; initialDepth = 2567.836725; finalDepth = 2566.774303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.476087 # Actual altitude: 100 # Commanded vehicle depth:2567.836725 # Seafloor depth:-2632.836725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.919868 meters # Minimum depth: 2643.585806 meters looking forward 100.000000 meters along route # Maximum depth: 2652.777163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2578.585806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638091; longitude = -122.824140; captureRadius = 10; duration = 110; initialDepth = 2578.585806; finalDepth = 2567.836725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2578.585806 # Seafloor depth:-2643.585806 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 114.345254 meters # Minimum depth: 2656.924865 meters looking forward 100.000000 meters along route # Maximum depth: 2688.879731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2591.924865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.637397; longitude = -122.825023; captureRadius = 10; duration = 114; initialDepth = 2591.924865; finalDepth = 2578.585806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2591.924865 # Seafloor depth:-2656.924865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 107.495946 meters # Minimum depth: 2689.463441 meters looking forward 100.000000 meters along route # Maximum depth: 2703.224292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2624.463441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636683; longitude = -122.825933; captureRadius = 10; duration = 107; initialDepth = 2624.463441; finalDepth = 2591.924865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2624.463441 # Seafloor depth:-2689.463441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.921332 meters # Minimum depth: 2715.889228 meters looking forward 100.000000 meters along route # Maximum depth: 2767.962352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2650.889228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636011; longitude = -122.826789; captureRadius = 10; duration = 110; initialDepth = 2650.889228; finalDepth = 2624.463441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2650.889228 # Seafloor depth:-2715.889228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.921820 meters # Minimum depth: 2770.264213 meters looking forward 100.000000 meters along route # Maximum depth: 2793.361934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2705.264213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.635318; longitude = -122.827672; captureRadius = 10; duration = 110; initialDepth = 2705.264213; finalDepth = 2650.889228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2705.264213 # Seafloor depth:-2770.264213 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.922308 meters # Minimum depth: 2814.811874 meters looking forward 100.000000 meters along route # Maximum depth: 2842.665331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2749.811874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634625; longitude = -122.828555; captureRadius = 10; duration = 110; initialDepth = 2749.811874; finalDepth = 2705.264213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2749.811874 # Seafloor depth:-2814.811874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.922797 meters # Minimum depth: 2846.065581 meters looking forward 100.000000 meters along route # Maximum depth: 2858.917414 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2781.065581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.633932; longitude = -122.829438; captureRadius = 10; duration = 110; initialDepth = 2781.065581; finalDepth = 2749.811874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2781.065581 # Seafloor depth:-2846.065581 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 110.923284 meters # Minimum depth: 2870.474730 meters looking forward 100.000000 meters along route # Maximum depth: 2895.604503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2805.474730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.633238; longitude = -122.830321; captureRadius = 10; duration = 110; initialDepth = 2805.474730; finalDepth = 2781.065581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2805.47473 # Seafloor depth:-2870.474730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 115.135010 meters # Minimum depth: 2900.757216 meters looking forward 100.000000 meters along route # Maximum depth: 2936.687967 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2835.757216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.632545; longitude = -122.831204; captureRadius = 10; duration = 115; initialDepth = 2835.757216; finalDepth = 2805.474730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2835.757216 # Seafloor depth:-2900.757216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 141.319392 meters # Minimum depth: 2938.298208 meters looking forward 100.000000 meters along route # Maximum depth: 3001.048249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2873.298208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.631826; longitude = -122.832121; captureRadius = 10; duration = 141; initialDepth = 2873.298208; finalDepth = 2835.757216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2873.298208 # Seafloor depth:-2938.298208 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 112.271228 meters # Minimum depth: 3019.605314 meters looking forward 100.000000 meters along route # Maximum depth: 3057.561277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2954.605314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.630943; longitude = -122.833246; captureRadius = 10; duration = 112; initialDepth = 2954.605314; finalDepth = 2873.298208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2954.605314 # Seafloor depth:-3019.605314 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 95.874974 meters # Minimum depth: 3033.033583 meters looking forward 100.000000 meters along route # Maximum depth: 3069.412415 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2968.033583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.630241; longitude = -122.834140; captureRadius = 10; duration = 95; initialDepth = 2968.033583; finalDepth = 2954.605314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.378832 # Actual altitude: 100 # Commanded vehicle depth:2968.033583 # Seafloor depth:-3069.412415 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 134.163750 meters # Minimum depth: 2977.722966 meters looking forward 100.000000 meters along route # Maximum depth: 3032.634562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2912.722966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.629618; longitude = -122.833406; captureRadius = 10; duration = 134; initialDepth = 2912.722966; finalDepth = 2968.033583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 119.911596 # Actual altitude: 100 # Commanded vehicle depth:2912.722966 # Seafloor depth:-3032.634562 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 92.072716 meters # Minimum depth: 2940.695622 meters looking forward 100.000000 meters along route # Maximum depth: 2969.266602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2875.695622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.628746; longitude = -122.832379; captureRadius = 10; duration = 92; initialDepth = 2875.695622; finalDepth = 2912.722966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 119.911596 # Actual altitude: 100 # Commanded vehicle depth:2875.695622 # Seafloor depth:-2969.266602 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 118.117166 meters # Minimum depth: 2865.080752 meters looking forward 100.000000 meters along route # Maximum depth: 2929.258983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2800.080752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.629321; longitude = -122.831646; captureRadius = 10; duration = 118; initialDepth = 2800.080752; finalDepth = 2875.695622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 129.178231 # Actual altitude: 100 # Commanded vehicle depth:2800.080752 # Seafloor depth:-2929.258983 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 103.733483 meters # Minimum depth: 2826.726292 meters looking forward 100.000000 meters along route # Maximum depth: 2859.326981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2761.726292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.630059; longitude = -122.830706; captureRadius = 10; duration = 103; initialDepth = 2761.726292; finalDepth = 2800.080752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 129.178231 # Actual altitude: 100 # Commanded vehicle depth:2761.726292 # Seafloor depth:-2859.326981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.924592 meters # Minimum depth: 2762.119936 meters looking forward 100.000000 meters along route # Maximum depth: 2815.511684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2697.119936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.630708; longitude = -122.829880; captureRadius = 10; duration = 110; initialDepth = 2697.119936; finalDepth = 2761.726292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.391748 # Actual altitude: 100 # Commanded vehicle depth:2697.119936 # Seafloor depth:-2815.511684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.924105 meters # Minimum depth: 2738.681355 meters looking forward 100.000000 meters along route # Maximum depth: 2761.525567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2673.681355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.631401; longitude = -122.828997; captureRadius = 10; duration = 110; initialDepth = 2673.681355; finalDepth = 2697.119936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.391748 # Actual altitude: 100 # Commanded vehicle depth:2673.681355 # Seafloor depth:-2761.525567 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.923616 meters # Minimum depth: 2686.289023 meters looking forward 100.000000 meters along route # Maximum depth: 2724.263081 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2621.289023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.632094; longitude = -122.828114; captureRadius = 10; duration = 110; initialDepth = 2621.289023; finalDepth = 2673.681355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.974058 # Actual altitude: 100 # Commanded vehicle depth:2621.289023 # Seafloor depth:-2724.263081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.923128 meters # Minimum depth: 2666.577604 meters looking forward 100.000000 meters along route # Maximum depth: 2680.760749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2601.577604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.632787; longitude = -122.827230; captureRadius = 10; duration = 110; initialDepth = 2601.577604; finalDepth = 2621.289023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.974058 # Actual altitude: 100 # Commanded vehicle depth:2601.577604 # Seafloor depth:-2680.760749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.922640 meters # Minimum depth: 2630.368245 meters looking forward 100.000000 meters along route # Maximum depth: 2654.990092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2565.368245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.633480; longitude = -122.826347; captureRadius = 10; duration = 110; initialDepth = 2565.368245; finalDepth = 2601.577604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6218469999999 # Actual altitude: 89.6218469999999 # Commanded vehicle depth:2565.368245 # Seafloor depth:-2654.990092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 358.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.85; MB_Bottom_Detect_Filter_Max_Range = 358.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 118.899746 meters # Minimum depth: 2596.980956 meters looking forward 100.000000 meters along route # Maximum depth: 2625.522423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2531.980956 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634174; longitude = -122.825464; captureRadius = 10; duration = 118; initialDepth = 2531.980956; finalDepth = 2565.368245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.541467 # Actual altitude: 93.541467 # Commanded vehicle depth:2531.980956 # Seafloor depth:-2625.522423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 374.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 374.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.944071 meters # Minimum depth: 2582.347672 meters looking forward 100.000000 meters along route # Maximum depth: 2594.384919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2517.347672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634917; longitude = -122.824518; captureRadius = 10; duration = 102; initialDepth = 2517.347672; finalDepth = 2531.980956; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.541467 # Actual altitude: 93.541467 # Commanded vehicle depth:2517.347672 # Seafloor depth:-2594.384919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 374.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.42; MB_Bottom_Detect_Filter_Max_Range = 374.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.921176 meters # Minimum depth: 2580.406702 meters looking forward 100.000000 meters along route # Maximum depth: 2584.602009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2515.406702 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.635560; longitude = -122.823698; captureRadius = 10; duration = 110; initialDepth = 2515.406702; finalDepth = 2517.347672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0372470000002 # Actual altitude: 77.0372470000002 # Commanded vehicle depth:2515.406702 # Seafloor depth:-2581.014426 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.81; MB_Bottom_Detect_Filter_Max_Range = 308.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.920688 meters # Minimum depth: 2584.843821 meters looking forward 100.000000 meters along route # Maximum depth: 2595.248634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2519.843821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636253; longitude = -122.822815; captureRadius = 10; duration = 110; initialDepth = 2519.843821; finalDepth = 2515.406702; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.607724 # Actual altitude: 70 # Commanded vehicle depth:2519.843821 # Seafloor depth:-2584.843821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.920200 meters # Minimum depth: 2598.880371 meters looking forward 100.000000 meters along route # Maximum depth: 2618.415144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2533.880371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636946; longitude = -122.821932; captureRadius = 10; duration = 110; initialDepth = 2533.880371; finalDepth = 2519.843821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2533.880371 # Seafloor depth:-2598.880371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.919712 meters # Minimum depth: 2623.941325 meters looking forward 100.000000 meters along route # Maximum depth: 2646.079278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2558.941325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.637639; longitude = -122.821049; captureRadius = 10; duration = 110; initialDepth = 2558.941325; finalDepth = 2533.880371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2558.941325 # Seafloor depth:-2623.941325 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.919224 meters # Minimum depth: 2673.731975 meters looking forward 100.000000 meters along route # Maximum depth: 2714.254858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2608.731975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638333; longitude = -122.820166; captureRadius = 10; duration = 110; initialDepth = 2608.731975; finalDepth = 2558.941325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2608.731975 # Seafloor depth:-2673.731975 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 119.682277 meters # Minimum depth: 2683.303942 meters looking forward 100.000000 meters along route # Maximum depth: 2712.694331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2618.303942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639026; longitude = -122.819282; captureRadius = 10; duration = 119; initialDepth = 2618.303942; finalDepth = 2608.731975; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.3903890000001 # Actual altitude: 94.3903890000001 # Commanded vehicle depth:2618.303942 # Seafloor depth:-2712.694331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 377.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.76; MB_Bottom_Detect_Filter_Max_Range = 377.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 102.154707 meters # Minimum depth: 2659.528679 meters looking forward 100.000000 meters along route # Maximum depth: 2680.615485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2594.528679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639774; longitude = -122.818330; captureRadius = 10; duration = 102; initialDepth = 2594.528679; finalDepth = 2618.303942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.3903890000001 # Actual altitude: 94.3903890000001 # Commanded vehicle depth:2594.528679 # Seafloor depth:-2680.615485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 377.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.76; MB_Bottom_Detect_Filter_Max_Range = 377.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.917760 meters # Minimum depth: 2614.177509 meters looking forward 100.000000 meters along route # Maximum depth: 2640.611649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2549.177509 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640412; longitude = -122.817516; captureRadius = 10; duration = 110; initialDepth = 2549.177509; finalDepth = 2594.528679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4341399999998 # Actual altitude: 91.4341399999998 # Commanded vehicle depth:2549.177509 # Seafloor depth:-2640.611649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.57; MB_Bottom_Detect_Filter_Max_Range = 365.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.917272 meters # Minimum depth: 2614.272311 meters looking forward 100.000000 meters along route # Maximum depth: 2621.061821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2549.272311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641105; longitude = -122.816633; captureRadius = 10; duration = 110; initialDepth = 2549.272311; finalDepth = 2549.177509; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.4341399999998 # Actual altitude: 91.4341399999998 # Commanded vehicle depth:2549.272311 # Seafloor depth:-2614.272311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 365.74; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.57; MB_Bottom_Detect_Filter_Max_Range = 365.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.916784 meters # Minimum depth: 2636.040824 meters looking forward 100.000000 meters along route # Maximum depth: 2643.325396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2571.040824 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641798; longitude = -122.815750; captureRadius = 10; duration = 110; initialDepth = 2571.040824; finalDepth = 2549.272311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2571.040824 # Seafloor depth:-2636.040824 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.916296 meters # Minimum depth: 2643.371558 meters looking forward 100.000000 meters along route # Maximum depth: 2655.573087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2578.371558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642492; longitude = -122.814867; captureRadius = 10; duration = 110; initialDepth = 2578.371558; finalDepth = 2571.040824; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2578.371558 # Seafloor depth:-2643.371558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.915809 meters # Minimum depth: 2643.531673 meters looking forward 100.000000 meters along route # Maximum depth: 2647.209601 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2578.531673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.643185; longitude = -122.813984; captureRadius = 10; duration = 110; initialDepth = 2578.531673; finalDepth = 2578.371558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3912030000001 # Actual altitude: 70 # Commanded vehicle depth:2578.531673 # Seafloor depth:-2646.922876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 120.464761 meters # Minimum depth: 2642.938448 meters looking forward 100.000000 meters along route # Maximum depth: 2657.070651 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2577.938448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.643878; longitude = -122.813101; captureRadius = 10; duration = 120; initialDepth = 2577.938448; finalDepth = 2578.531673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.3912030000001 # Actual altitude: 70 # Commanded vehicle depth:2577.938448 # Seafloor depth:-2642.938448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 101.365392 meters # Minimum depth: 2657.587854 meters looking forward 100.000000 meters along route # Maximum depth: 2660.486320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2592.587854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644631; longitude = -122.812141; captureRadius = 10; duration = 101; initialDepth = 2592.587854; finalDepth = 2577.938448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2592.587854 # Seafloor depth:-2657.587854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.914344 meters # Minimum depth: 2659.069751 meters looking forward 100.000000 meters along route # Maximum depth: 2662.073674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2594.069751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645264; longitude = -122.811334; captureRadius = 10; duration = 110; initialDepth = 2594.069751; finalDepth = 2592.587854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2594.069751 # Seafloor depth:-2659.069751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.913857 meters # Minimum depth: 2656.039741 meters looking forward 100.000000 meters along route # Maximum depth: 2661.183104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2591.039741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645958; longitude = -122.810451; captureRadius = 10; duration = 110; initialDepth = 2591.039741; finalDepth = 2594.069751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1433630000001 # Actual altitude: 70.1433630000001 # Commanded vehicle depth:2591.039741 # Seafloor depth:-2661.183104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.06; MB_Bottom_Detect_Filter_Max_Range = 280.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.913369 meters # Minimum depth: 2621.807692 meters looking forward 100.000000 meters along route # Maximum depth: 2645.456664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2556.807692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.646651; longitude = -122.809568; captureRadius = 10; duration = 110; initialDepth = 2556.807692; finalDepth = 2591.039741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.648972 # Actual altitude: 88.648972 # Commanded vehicle depth:2556.807692 # Seafloor depth:-2645.456664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 354.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 354.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.912881 meters # Minimum depth: 2602.352936 meters looking forward 100.000000 meters along route # Maximum depth: 2625.984973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2537.352936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647344; longitude = -122.808685; captureRadius = 10; duration = 110; initialDepth = 2537.352936; finalDepth = 2556.807692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.648972 # Actual altitude: 88.648972 # Commanded vehicle depth:2537.352936 # Seafloor depth:-2625.984973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 354.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.46; MB_Bottom_Detect_Filter_Max_Range = 354.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.912394 meters # Minimum depth: 2552.376107 meters looking forward 100.000000 meters along route # Maximum depth: 2565.040046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2487.376107 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648037; longitude = -122.807802; captureRadius = 10; duration = 110; initialDepth = 2487.376107; finalDepth = 2537.352936; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.6320369999999 # Actual altitude: 88.6320369999999 # Commanded vehicle depth:2487.376107 # Seafloor depth:-2565.040046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 354.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.45; MB_Bottom_Detect_Filter_Max_Range = 354.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 121.247196 meters # Minimum depth: 2517.195842 meters looking forward 100.000000 meters along route # Maximum depth: 2550.234910 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2452.195842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648730; longitude = -122.806919; captureRadius = 10; duration = 121; initialDepth = 2452.195842; finalDepth = 2487.376107; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.039068 # Actual altitude: 98.039068 # Commanded vehicle depth:2452.195842 # Seafloor depth:-2550.234910 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 392.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 392.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 100.576127 meters # Minimum depth: 2503.331279 meters looking forward 100.000000 meters along route # Maximum depth: 2515.656372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2438.331279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649488; longitude = -122.805953; captureRadius = 10; duration = 100; initialDepth = 2438.331279; finalDepth = 2452.195842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.039068 # Actual altitude: 98.039068 # Commanded vehicle depth:2438.331279 # Seafloor depth:-2515.656372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 392.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.22; MB_Bottom_Detect_Filter_Max_Range = 392.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 111.377744 meters # Minimum depth: 2487.774530 meters looking forward 100.000000 meters along route # Maximum depth: 2505.841854 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2422.774530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.650117; longitude = -122.805153; captureRadius = 10; duration = 111; initialDepth = 2422.774530; finalDepth = 2438.331279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.0673239999996 # Actual altitude: 83.0673239999996 # Commanded vehicle depth:2422.77453 # Seafloor depth:-2505.841854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.23; MB_Bottom_Detect_Filter_Max_Range = 332.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.443628 meters # Minimum depth: 2468.694650 meters looking forward 100.000000 meters along route # Maximum depth: 2487.656368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2403.694650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.650813; longitude = -122.804266; captureRadius = 10; duration = 110; initialDepth = 2403.694650; finalDepth = 2422.774530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.961718 # Actual altitude: 83.961718 # Commanded vehicle depth:2403.69465 # Seafloor depth:-2487.656368 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 335.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.58; MB_Bottom_Detect_Filter_Max_Range = 335.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.909954 meters # Minimum depth: 2418.787310 meters looking forward 100.000000 meters along route # Maximum depth: 2461.318683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2353.787310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651503; longitude = -122.803386; captureRadius = 10; duration = 110; initialDepth = 2353.787310; finalDepth = 2403.694650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.531373 # Actual altitude: 100 # Commanded vehicle depth:2353.78731 # Seafloor depth:-2461.318683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.909466 meters # Minimum depth: 2382.633459 meters looking forward 100.000000 meters along route # Maximum depth: 2414.162142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2317.633459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652196; longitude = -122.802503; captureRadius = 10; duration = 110; initialDepth = 2317.633459; finalDepth = 2353.787310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 107.531373 # Actual altitude: 100 # Commanded vehicle depth:2317.633459 # Seafloor depth:-2414.162142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.908979 meters # Minimum depth: 2338.241997 meters looking forward 100.000000 meters along route # Maximum depth: 2355.126788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2273.241997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652889; longitude = -122.801620; captureRadius = 10; duration = 110; initialDepth = 2273.241997; finalDepth = 2317.633459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.528683 # Actual altitude: 96.528683 # Commanded vehicle depth:2273.241997 # Seafloor depth:-2355.126788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 386.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.61; MB_Bottom_Detect_Filter_Max_Range = 386.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.908491 meters # Minimum depth: 2335.933381 meters looking forward 100.000000 meters along route # Maximum depth: 2338.862620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2270.933381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653582; longitude = -122.800737; captureRadius = 10; duration = 110; initialDepth = 2270.933381; finalDepth = 2273.241997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.884791 # Actual altitude: 81.884791 # Commanded vehicle depth:2270.933381 # Seafloor depth:-2338.862620 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.75; MB_Bottom_Detect_Filter_Max_Range = 327.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.908003 meters # Minimum depth: 2315.386715 meters looking forward 100.000000 meters along route # Maximum depth: 2318.251057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2250.386715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654276; longitude = -122.799854; captureRadius = 10; duration = 110; initialDepth = 2250.386715; finalDepth = 2270.933381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.9292390000001 # Actual altitude: 70 # Commanded vehicle depth:2250.386715 # Seafloor depth:-2317.153629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 112.160429 meters # Minimum depth: 2322.879059 meters looking forward 100.000000 meters along route # Maximum depth: 2358.812517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2257.879059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654969; longitude = -122.798971; captureRadius = 10; duration = 112; initialDepth = 2257.879059; finalDepth = 2250.386715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.7669139999998 # Actual altitude: 70 # Commanded vehicle depth:2257.879059 # Seafloor depth:-2322.879059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 109.654115 meters # Minimum depth: 2358.851484 meters looking forward 100.000000 meters along route # Maximum depth: 2367.301327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2293.851484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655670; longitude = -122.798078; captureRadius = 10; duration = 109; initialDepth = 2293.851484; finalDepth = 2257.879059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2293.851484 # Seafloor depth:-2358.851484 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.906540 meters # Minimum depth: 2370.379035 meters looking forward 100.000000 meters along route # Maximum depth: 2379.008334 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2305.379035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656355; longitude = -122.797205; captureRadius = 10; duration = 110; initialDepth = 2305.379035; finalDepth = 2293.851484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2305.379035 # Seafloor depth:-2370.379035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.906052 meters # Minimum depth: 2373.634879 meters looking forward 100.000000 meters along route # Maximum depth: 2381.567143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2308.634879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657048; longitude = -122.796321; captureRadius = 10; duration = 110; initialDepth = 2308.634879; finalDepth = 2305.379035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2308.634879 # Seafloor depth:-2373.634879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 110.905565 meters # Minimum depth: 2349.491358 meters looking forward 100.000000 meters along route # Maximum depth: 2370.101143 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2284.491358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657741; longitude = -122.795438; captureRadius = 10; duration = 110; initialDepth = 2284.491358; finalDepth = 2308.634879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.6097849999996 # Actual altitude: 85.6097849999996 # Commanded vehicle depth:2284.491358 # Seafloor depth:-2370.101143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 342.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.24; MB_Bottom_Detect_Filter_Max_Range = 342.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 148.216279 meters # Minimum depth: 2305.994930 meters looking forward 100.000000 meters along route # Maximum depth: 2345.059133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2240.994930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658435; longitude = -122.794555; captureRadius = 10; duration = 148; initialDepth = 2240.994930; finalDepth = 2284.491358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.064203 # Actual altitude: 100 # Commanded vehicle depth:2240.99493 # Seafloor depth:-2345.059133 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 92.359303 meters # Minimum depth: 2272.340225 meters looking forward 100.000000 meters along route # Maximum depth: 2303.015564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2207.340225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659361; longitude = -122.793375; captureRadius = 10; duration = 92; initialDepth = 2207.340225; finalDepth = 2240.994930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.064203 # Actual altitude: 100 # Commanded vehicle depth:2207.340225 # Seafloor depth:-2303.015564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 137.640261 meters # Minimum depth: 2244.904737 meters looking forward 100.000000 meters along route # Maximum depth: 2266.129629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2179.904737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658761; longitude = -122.792668; captureRadius = 10; duration = 137; initialDepth = 2179.904737; finalDepth = 2207.340225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.6753389999999 # Actual altitude: 95.6753389999999 # Commanded vehicle depth:2179.904737 # Seafloor depth:-2266.129629 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 382.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.27; MB_Bottom_Detect_Filter_Max_Range = 382.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 287.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 92.106691 meters # Minimum depth: 2249.577546 meters looking forward 100.000000 meters along route # Maximum depth: 2286.277774 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2184.577546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657866; longitude = -122.791614; captureRadius = 10; duration = 92; initialDepth = 2184.577546; finalDepth = 2179.904737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.2248920000002 # Actual altitude: 86.2248920000002 # Commanded vehicle depth:2184.577546 # Seafloor depth:-2258.435974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 344.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.49; MB_Bottom_Detect_Filter_Max_Range = 344.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 117.993584 meters # Minimum depth: 2303.283217 meters looking forward 100.000000 meters along route # Maximum depth: 2349.901999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2238.283217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657290; longitude = -122.792347; captureRadius = 10; duration = 117; initialDepth = 2238.283217; finalDepth = 2184.577546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.858428 # Actual altitude: 73.858428 # Commanded vehicle depth:2238.283217 # Seafloor depth:-2303.283217 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 295.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.54; MB_Bottom_Detect_Filter_Max_Range = 295.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 221.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.816196 meters # Minimum depth: 2352.386034 meters looking forward 100.000000 meters along route # Maximum depth: 2386.019341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2287.386034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656553; longitude = -122.793287; captureRadius = 10; duration = 103; initialDepth = 2287.386034; finalDepth = 2238.283217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2287.386034 # Seafloor depth:-2352.386034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.905621 meters # Minimum depth: 2400.551277 meters looking forward 100.000000 meters along route # Maximum depth: 2409.395880 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2335.551277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655904; longitude = -122.794114; captureRadius = 10; duration = 110; initialDepth = 2335.551277; finalDepth = 2287.386034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2335.551277 # Seafloor depth:-2400.551277 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.906109 meters # Minimum depth: 2401.623271 meters looking forward 100.000000 meters along route # Maximum depth: 2409.397587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2336.623271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655211; longitude = -122.794997; captureRadius = 10; duration = 110; initialDepth = 2336.623271; finalDepth = 2335.551277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.774316 # Actual altitude: 72.774316 # Commanded vehicle depth:2336.623271 # Seafloor depth:-2409.397587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.11; MB_Bottom_Detect_Filter_Max_Range = 291.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.906596 meters # Minimum depth: 2402.028870 meters looking forward 100.000000 meters along route # Maximum depth: 2413.418650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2337.028870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654518; longitude = -122.795880; captureRadius = 10; duration = 110; initialDepth = 2337.028870; finalDepth = 2336.623271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.774316 # Actual altitude: 72.774316 # Commanded vehicle depth:2337.02887 # Seafloor depth:-2402.028870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 291.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.11; MB_Bottom_Detect_Filter_Max_Range = 291.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.907084 meters # Minimum depth: 2415.863232 meters looking forward 100.000000 meters along route # Maximum depth: 2418.914308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2350.863232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653825; longitude = -122.796763; captureRadius = 10; duration = 110; initialDepth = 2350.863232; finalDepth = 2337.028870; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2350.863232 # Seafloor depth:-2415.863232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.907572 meters # Minimum depth: 2424.455642 meters looking forward 100.000000 meters along route # Maximum depth: 2428.112776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2359.455642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653131; longitude = -122.797646; captureRadius = 10; duration = 110; initialDepth = 2359.455642; finalDepth = 2350.863232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0860090000001 # Actual altitude: 70 # Commanded vehicle depth:2359.455642 # Seafloor depth:-2424.541651 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 118.808723 meters # Minimum depth: 2430.598835 meters looking forward 100.000000 meters along route # Maximum depth: 2457.104844 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2365.598835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652438; longitude = -122.798529; captureRadius = 10; duration = 118; initialDepth = 2365.598835; finalDepth = 2359.455642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0860090000001 # Actual altitude: 70 # Commanded vehicle depth:2365.598835 # Seafloor depth:-2430.598835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 103.007884 meters # Minimum depth: 2458.988048 meters looking forward 100.000000 meters along route # Maximum depth: 2468.077439 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2393.988048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651696; longitude = -122.799475; captureRadius = 10; duration = 103; initialDepth = 2393.988048; finalDepth = 2365.598835; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2393.988048 # Seafloor depth:-2458.988048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.909035 meters # Minimum depth: 2477.337124 meters looking forward 100.000000 meters along route # Maximum depth: 2517.633983 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2412.337124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651052; longitude = -122.800295; captureRadius = 10; duration = 110; initialDepth = 2412.337124; finalDepth = 2393.988048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2412.337124 # Seafloor depth:-2477.337124 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.909523 meters # Minimum depth: 2517.878506 meters looking forward 100.000000 meters along route # Maximum depth: 2534.290426 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2452.878506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.650359; longitude = -122.801179; captureRadius = 10; duration = 110; initialDepth = 2452.878506; finalDepth = 2412.337124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2452.878506 # Seafloor depth:-2517.878506 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.910010 meters # Minimum depth: 2550.273679 meters looking forward 100.000000 meters along route # Maximum depth: 2580.719956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2485.273679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649666; longitude = -122.802062; captureRadius = 10; duration = 110; initialDepth = 2485.273679; finalDepth = 2452.878506; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2485.273679 # Seafloor depth:-2550.273679 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.910498 meters # Minimum depth: 2583.948362 meters looking forward 100.000000 meters along route # Maximum depth: 2597.279493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2518.948362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648973; longitude = -122.802945; captureRadius = 10; duration = 110; initialDepth = 2518.948362; finalDepth = 2485.273679; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2518.948362 # Seafloor depth:-2583.948362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.910986 meters # Minimum depth: 2605.140452 meters looking forward 100.000000 meters along route # Maximum depth: 2612.906232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2540.140452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648279; longitude = -122.803828; captureRadius = 10; duration = 110; initialDepth = 2540.140452; finalDepth = 2518.948362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2540.140452 # Seafloor depth:-2605.140452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 119.623912 meters # Minimum depth: 2614.661906 meters looking forward 100.000000 meters along route # Maximum depth: 2627.664368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2549.661906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647586; longitude = -122.804711; captureRadius = 10; duration = 119; initialDepth = 2549.661906; finalDepth = 2540.140452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2549.661906 # Seafloor depth:-2614.661906 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 102.199523 meters # Minimum depth: 2628.575430 meters looking forward 100.000000 meters along route # Maximum depth: 2631.123462 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2563.575430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.646839; longitude = -122.805664; captureRadius = 10; duration = 102; initialDepth = 2563.575430; finalDepth = 2549.661906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2563.57543 # Seafloor depth:-2628.575430 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.912450 meters # Minimum depth: 2633.331587 meters looking forward 100.000000 meters along route # Maximum depth: 2638.725868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2568.331587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.646200; longitude = -122.806477; captureRadius = 10; duration = 110; initialDepth = 2568.331587; finalDepth = 2563.575430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2568.331587 # Seafloor depth:-2633.331587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.912937 meters # Minimum depth: 2638.492489 meters looking forward 100.000000 meters along route # Maximum depth: 2639.439458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2573.492489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645507; longitude = -122.807360; captureRadius = 10; duration = 110; initialDepth = 2573.492489; finalDepth = 2568.331587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.2391169999996 # Actual altitude: 70 # Commanded vehicle depth:2573.492489 # Seafloor depth:-2638.731606 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.913424 meters # Minimum depth: 2599.871070 meters looking forward 100.000000 meters along route # Maximum depth: 2636.239587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2534.871070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644814; longitude = -122.808243; captureRadius = 10; duration = 110; initialDepth = 2534.871070; finalDepth = 2573.492489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.368517 # Actual altitude: 100 # Commanded vehicle depth:2534.87107 # Seafloor depth:-2636.239587 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.913913 meters # Minimum depth: 2567.044909 meters looking forward 100.000000 meters along route # Maximum depth: 2595.232963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2502.044909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644120; longitude = -122.809127; captureRadius = 10; duration = 110; initialDepth = 2502.044909; finalDepth = 2534.871070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.368517 # Actual altitude: 100 # Commanded vehicle depth:2502.044909 # Seafloor depth:-2595.232963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.914401 meters # Minimum depth: 2527.638756 meters looking forward 100.000000 meters along route # Maximum depth: 2556.082360 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2462.638756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.643427; longitude = -122.810010; captureRadius = 10; duration = 110; initialDepth = 2462.638756; finalDepth = 2502.044909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.4436040000001 # Actual altitude: 93.4436040000001 # Commanded vehicle depth:2462.638756 # Seafloor depth:-2556.082360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 373.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.38; MB_Bottom_Detect_Filter_Max_Range = 373.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 120.439151 meters # Minimum depth: 2523.951706 meters looking forward 100.000000 meters along route # Maximum depth: 2533.692881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2458.951706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642734; longitude = -122.810893; captureRadius = 10; duration = 120; initialDepth = 2458.951706; finalDepth = 2462.638756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.4436040000001 # Actual altitude: 93.4436040000001 # Commanded vehicle depth:2458.951706 # Seafloor depth:-2530.752944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 373.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.38; MB_Bottom_Detect_Filter_Max_Range = 373.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 101.391113 meters # Minimum depth: 2531.772750 meters looking forward 100.000000 meters along route # Maximum depth: 2534.330055 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2466.772750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641982; longitude = -122.811852; captureRadius = 10; duration = 101; initialDepth = 2466.772750; finalDepth = 2458.951706; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.801238 # Actual altitude: 71.801238 # Commanded vehicle depth:2466.77275 # Seafloor depth:-2534.330055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.72; MB_Bottom_Detect_Filter_Max_Range = 287.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.915864 meters # Minimum depth: 2541.940304 meters looking forward 100.000000 meters along route # Maximum depth: 2566.549365 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2476.940304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641348; longitude = -122.812659; captureRadius = 10; duration = 110; initialDepth = 2476.940304; finalDepth = 2466.772750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5573049999998 # Actual altitude: 70 # Commanded vehicle depth:2476.940304 # Seafloor depth:-2541.940304 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.916352 meters # Minimum depth: 2566.717316 meters looking forward 100.000000 meters along route # Maximum depth: 2617.811013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2501.717316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640655; longitude = -122.813542; captureRadius = 10; duration = 110; initialDepth = 2501.717316; finalDepth = 2476.940304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2501.717316 # Seafloor depth:-2566.717316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.916840 meters # Minimum depth: 2622.862165 meters looking forward 100.000000 meters along route # Maximum depth: 2671.315544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2557.862165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639962; longitude = -122.814425; captureRadius = 10; duration = 110; initialDepth = 2557.862165; finalDepth = 2501.717316; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2557.862165 # Seafloor depth:-2622.862165 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.917327 meters # Minimum depth: 2673.604321 meters looking forward 100.000000 meters along route # Maximum depth: 2686.042914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2608.604321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639268; longitude = -122.815308; captureRadius = 10; duration = 110; initialDepth = 2608.604321; finalDepth = 2557.862165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2608.604321 # Seafloor depth:-2673.604321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.917816 meters # Minimum depth: 2700.831048 meters looking forward 100.000000 meters along route # Maximum depth: 2719.237302 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2635.831048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638575; longitude = -122.816191; captureRadius = 10; duration = 110; initialDepth = 2635.831048; finalDepth = 2608.604321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2635.831048 # Seafloor depth:-2700.831048 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 121.254441 meters # Minimum depth: 2723.339990 meters looking forward 100.000000 meters along route # Maximum depth: 2729.636623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2658.339990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.637882; longitude = -122.817075; captureRadius = 10; duration = 121; initialDepth = 2658.339990; finalDepth = 2635.831048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2658.33999 # Seafloor depth:-2723.339990 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 100.582654 meters # Minimum depth: 2729.438749 meters looking forward 100.000000 meters along route # Maximum depth: 2744.181986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2664.438749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.637124; longitude = -122.818040; captureRadius = 10; duration = 100; initialDepth = 2664.438749; finalDepth = 2658.339990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2664.438749 # Seafloor depth:-2729.438749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 111.393255 meters # Minimum depth: 2719.758497 meters looking forward 100.000000 meters along route # Maximum depth: 2747.081683 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2654.758497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636496; longitude = -122.818841; captureRadius = 10; duration = 111; initialDepth = 2654.758497; finalDepth = 2664.438749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.3231860000001 # Actual altitude: 92.3231860000001 # Commanded vehicle depth:2654.758497 # Seafloor depth:-2747.081683 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 369.29; 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 = 369.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.445792 meters # Minimum depth: 2711.333617 meters looking forward 100.000000 meters along route # Maximum depth: 2719.729154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2646.333617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.635800; longitude = -122.819728; captureRadius = 10; duration = 110; initialDepth = 2646.333617; finalDepth = 2654.758497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.3231860000001 # Actual altitude: 92.3231860000001 # Commanded vehicle depth:2646.333617 # Seafloor depth:-2719.729154 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 369.29; 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 = 369.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 276.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.920255 meters # Minimum depth: 2706.002822 meters looking forward 100.000000 meters along route # Maximum depth: 2711.401537 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2641.002822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.635110; longitude = -122.820607; captureRadius = 10; duration = 110; initialDepth = 2641.002822; finalDepth = 2646.333617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.3955370000003 # Actual altitude: 73.3955370000003 # Commanded vehicle depth:2641.002822 # Seafloor depth:-2711.401537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.36; MB_Bottom_Detect_Filter_Max_Range = 293.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.920743 meters # Minimum depth: 2706.617716 meters looking forward 100.000000 meters along route # Maximum depth: 2710.260117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2641.617716 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634416; longitude = -122.821490; captureRadius = 10; duration = 110; initialDepth = 2641.617716; finalDepth = 2641.002822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3987150000003 # Actual altitude: 70.3987150000003 # Commanded vehicle depth:2641.617716 # Seafloor depth:-2706.617716 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.16; MB_Bottom_Detect_Filter_Max_Range = 281.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.921231 meters # Minimum depth: 2709.594643 meters looking forward 100.000000 meters along route # Maximum depth: 2719.729605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2644.594643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.633723; longitude = -122.822373; captureRadius = 10; duration = 110; initialDepth = 2644.594643; finalDepth = 2641.617716; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2644.594643 # Seafloor depth:-2709.594643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.921720 meters # Minimum depth: 2711.451631 meters looking forward 100.000000 meters along route # Maximum depth: 2713.622110 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2646.451631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.633030; longitude = -122.823256; captureRadius = 10; duration = 110; initialDepth = 2646.451631; finalDepth = 2644.594643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2646.451631 # Seafloor depth:-2711.451631 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.922207 meters # Minimum depth: 2733.032046 meters looking forward 100.000000 meters along route # Maximum depth: 2761.923665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2668.032046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.632337; longitude = -122.824140; captureRadius = 10; duration = 110; initialDepth = 2668.032046; finalDepth = 2646.451631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2668.032046 # Seafloor depth:-2733.032046 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 112.208299 meters # Minimum depth: 2762.738922 meters looking forward 100.000000 meters along route # Maximum depth: 2771.971416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2697.738922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.631644; longitude = -122.825023; captureRadius = 10; duration = 112; initialDepth = 2697.738922; finalDepth = 2668.032046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.269472 # Actual altitude: 70 # Commanded vehicle depth:2697.738922 # Seafloor depth:-2764.008394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.637579 meters # Minimum depth: 2772.363057 meters looking forward 100.000000 meters along route # Maximum depth: 2788.658656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2707.363057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.630943; longitude = -122.825916; captureRadius = 10; duration = 109; initialDepth = 2707.363057; finalDepth = 2697.738922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.269472 # Actual altitude: 70 # Commanded vehicle depth:2707.363057 # Seafloor depth:-2772.363057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.923672 meters # Minimum depth: 2807.245253 meters looking forward 100.000000 meters along route # Maximum depth: 2847.703054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2742.245253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.630257; longitude = -122.826789; captureRadius = 10; duration = 110; initialDepth = 2742.245253; finalDepth = 2707.363057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2742.245253 # Seafloor depth:-2807.245253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.924159 meters # Minimum depth: 2851.987164 meters looking forward 100.000000 meters along route # Maximum depth: 2895.235213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2786.987164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.629564; longitude = -122.827672; captureRadius = 10; duration = 110; initialDepth = 2786.987164; finalDepth = 2742.245253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2786.987164 # Seafloor depth:-2851.987164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 110.924647 meters # Minimum depth: 2931.763886 meters looking forward 100.000000 meters along route # Maximum depth: 2983.472047 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2866.763886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.628871; longitude = -122.828555; captureRadius = 10; duration = 110; initialDepth = 2866.763886; finalDepth = 2786.987164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2866.763886 # Seafloor depth:-2931.763886 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 148.191213 meters # Minimum depth: 2993.537125 meters looking forward 100.000000 meters along route # Maximum depth: 3060.004103 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2928.537125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.628178; longitude = -122.829438; captureRadius = 10; duration = 148; initialDepth = 2928.537125; finalDepth = 2866.763886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2928.537125 # Seafloor depth:-2993.537125 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 111.556091 meters # Minimum depth: 3073.920654 meters looking forward 100.000000 meters along route # Maximum depth: 3100.024575 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 3008.920654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.627252; longitude = -122.830618; captureRadius = 10; duration = 111; initialDepth = 3008.920654; finalDepth = 2928.537125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:3008.920654 # Seafloor depth:-3073.920654 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 118.486715 meters # Minimum depth: 3104.958953 meters looking forward 100.000000 meters along route # Maximum depth: 3141.000298 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 3039.958953 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.626527; longitude = -122.829764; captureRadius = 10; duration = 118; initialDepth = 3039.958953; finalDepth = 3008.920654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:3039.958953 # Seafloor depth:-3104.958953 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 93.428102 meters # Minimum depth: 3116.795726 meters looking forward 100.000000 meters along route # Maximum depth: 3138.844971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 3051.795726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.625757; longitude = -122.828857; captureRadius = 10; duration = 93; initialDepth = 3051.795726; finalDepth = 3039.958953; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.0492450000002 # Actual altitude: 87.0492450000002 # Commanded vehicle depth:3051.795726 # Seafloor depth:-3138.844971 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 348.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.82; MB_Bottom_Detect_Filter_Max_Range = 348.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.975783 meters # Minimum depth: 3036.154879 meters looking forward 100.000000 meters along route # Maximum depth: 3093.620498 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2971.154879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.626341; longitude = -122.828114; captureRadius = 10; duration = 110; initialDepth = 2971.154879; finalDepth = 3051.795726; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.465619 # Actual altitude: 100 # Commanded vehicle depth:2971.154879 # Seafloor depth:-3093.620498 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.975295 meters # Minimum depth: 2997.086894 meters looking forward 100.000000 meters along route # Maximum depth: 3030.997351 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2932.086894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.627035; longitude = -122.827230; captureRadius = 10; duration = 110; initialDepth = 2932.086894; finalDepth = 2971.154879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.465619 # Actual altitude: 100 # Commanded vehicle depth:2932.086894 # Seafloor depth:-3030.997351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.974807 meters # Minimum depth: 2928.030806 meters looking forward 100.000000 meters along route # Maximum depth: 2966.031532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2863.030806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.627729; longitude = -122.826347; captureRadius = 10; duration = 110; initialDepth = 2863.030806; finalDepth = 2932.086894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.000726 # Actual altitude: 100 # Commanded vehicle depth:2863.030806 # Seafloor depth:-2966.031532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 120.583202 meters # Minimum depth: 2906.895353 meters looking forward 100.000000 meters along route # Maximum depth: 2922.830761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2841.895353 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.628422; longitude = -122.825464; captureRadius = 10; duration = 120; initialDepth = 2841.895353; finalDepth = 2863.030806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.000726 # Actual altitude: 100 # Commanded vehicle depth:2841.895353 # Seafloor depth:-2921.105443 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.364946 meters # Minimum depth: 2898.598201 meters looking forward 100.000000 meters along route # Maximum depth: 2903.332362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2833.598201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.629176; longitude = -122.824505; captureRadius = 10; duration = 101; initialDepth = 2833.598201; finalDepth = 2841.895353; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.21009 # Actual altitude: 79.21009 # Commanded vehicle depth:2833.598201 # Seafloor depth:-2903.007297 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.68; MB_Bottom_Detect_Filter_Max_Range = 316.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.973342 meters # Minimum depth: 2901.226757 meters looking forward 100.000000 meters along route # Maximum depth: 2905.948533 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2836.226757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.629810; longitude = -122.823698; captureRadius = 10; duration = 110; initialDepth = 2836.226757; finalDepth = 2833.598201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.7217760000003 # Actual altitude: 70 # Commanded vehicle depth:2836.226757 # Seafloor depth:-2905.948533 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.972854 meters # Minimum depth: 2888.386880 meters looking forward 100.000000 meters along route # Maximum depth: 2904.096300 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2823.386880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.630504; longitude = -122.822815; captureRadius = 10; duration = 110; initialDepth = 2823.386880; finalDepth = 2836.226757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.7094200000001 # Actual altitude: 80.7094200000001 # Commanded vehicle depth:2823.38688 # Seafloor depth:-2904.096300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.28; MB_Bottom_Detect_Filter_Max_Range = 322.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.972366 meters # Minimum depth: 2851.861860 meters looking forward 100.000000 meters along route # Maximum depth: 2879.381916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2786.861860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.631198; longitude = -122.821932; captureRadius = 10; duration = 110; initialDepth = 2786.861860; finalDepth = 2823.386880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.5200559999998 # Actual altitude: 92.5200559999998 # Commanded vehicle depth:2786.86186 # Seafloor depth:-2879.381916 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.01; MB_Bottom_Detect_Filter_Max_Range = 370.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.971877 meters # Minimum depth: 2835.437810 meters looking forward 100.000000 meters along route # Maximum depth: 2850.277941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2770.437810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.631891; longitude = -122.821049; captureRadius = 10; duration = 110; initialDepth = 2770.437810; finalDepth = 2786.861860; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.5200559999998 # Actual altitude: 92.5200559999998 # Commanded vehicle depth:2770.43781 # Seafloor depth:-2850.277941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.01; MB_Bottom_Detect_Filter_Max_Range = 370.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 277.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.971389 meters # Minimum depth: 2808.556978 meters looking forward 100.000000 meters along route # Maximum depth: 2821.003994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2743.556978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.632585; longitude = -122.820166; captureRadius = 10; duration = 110; initialDepth = 2743.556978; finalDepth = 2770.437810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.8401309999999 # Actual altitude: 79.8401309999999 # Commanded vehicle depth:2743.556978 # Seafloor depth:-2821.003994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.94; MB_Bottom_Detect_Filter_Max_Range = 319.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 120.665049 meters # Minimum depth: 2803.615131 meters looking forward 100.000000 meters along route # Maximum depth: 2808.697788 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2738.615131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.633279; longitude = -122.819282; captureRadius = 10; duration = 120; initialDepth = 2738.615131; finalDepth = 2743.556978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.4470160000001 # Actual altitude: 77.4470160000001 # Commanded vehicle depth:2738.615131 # Seafloor depth:-2807.732684 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 309.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.98; MB_Bottom_Detect_Filter_Max_Range = 309.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.276266 meters # Minimum depth: 2807.320153 meters looking forward 100.000000 meters along route # Maximum depth: 2812.683231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2742.320153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634033; longitude = -122.818322; captureRadius = 10; duration = 101; initialDepth = 2742.320153; finalDepth = 2738.615131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.117553 # Actual altitude: 70 # Commanded vehicle depth:2742.320153 # Seafloor depth:-2808.071788 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.969924 meters # Minimum depth: 2787.351448 meters looking forward 100.000000 meters along route # Maximum depth: 2814.282179 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2722.351448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.634667; longitude = -122.817516; captureRadius = 10; duration = 110; initialDepth = 2722.351448; finalDepth = 2742.320153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9307309999999 # Actual altitude: 91.9307309999999 # Commanded vehicle depth:2722.351448 # Seafloor depth:-2814.282179 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 367.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.77; MB_Bottom_Detect_Filter_Max_Range = 367.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.969437 meters # Minimum depth: 2771.163677 meters looking forward 100.000000 meters along route # Maximum depth: 2787.290765 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2706.163677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.635360; longitude = -122.816633; captureRadius = 10; duration = 110; initialDepth = 2706.163677; finalDepth = 2722.351448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9307309999999 # Actual altitude: 91.9307309999999 # Commanded vehicle depth:2706.163677 # Seafloor depth:-2787.290765 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 367.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.77; MB_Bottom_Detect_Filter_Max_Range = 367.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 275.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.968949 meters # Minimum depth: 2735.498569 meters looking forward 100.000000 meters along route # Maximum depth: 2768.261021 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2670.498569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636054; longitude = -122.815750; captureRadius = 10; duration = 110; initialDepth = 2670.498569; finalDepth = 2706.163677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.7624519999999 # Actual altitude: 97.7624519999999 # Commanded vehicle depth:2670.498569 # Seafloor depth:-2768.261021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.10; MB_Bottom_Detect_Filter_Max_Range = 391.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.968461 meters # Minimum depth: 2722.936749 meters looking forward 100.000000 meters along route # Maximum depth: 2735.480988 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2657.936749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.636748; longitude = -122.814867; captureRadius = 10; duration = 110; initialDepth = 2657.936749; finalDepth = 2670.498569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.7624519999999 # Actual altitude: 97.7624519999999 # Commanded vehicle depth:2657.936749 # Seafloor depth:-2735.480988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.10; MB_Bottom_Detect_Filter_Max_Range = 391.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.967972 meters # Minimum depth: 2714.777635 meters looking forward 100.000000 meters along route # Maximum depth: 2723.105332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2649.777635 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.637442; longitude = -122.813984; captureRadius = 10; duration = 110; initialDepth = 2649.777635; finalDepth = 2657.936749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.5442389999998 # Actual altitude: 77.5442389999998 # Commanded vehicle depth:2649.777635 # Seafloor depth:-2723.105332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.02; MB_Bottom_Detect_Filter_Max_Range = 310.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 232.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 120.746890 meters # Minimum depth: 2672.903060 meters looking forward 100.000000 meters along route # Maximum depth: 2710.310556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2607.903060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638136; longitude = -122.813101; captureRadius = 10; duration = 120; initialDepth = 2607.903060; finalDepth = 2649.777635; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.407496 # Actual altitude: 100 # Commanded vehicle depth:2607.90306 # Seafloor depth:-2710.310556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.187591 meters # Minimum depth: 2641.559553 meters looking forward 100.000000 meters along route # Maximum depth: 2670.415544 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2576.559553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.638891; longitude = -122.812140; captureRadius = 10; duration = 101; initialDepth = 2576.559553; finalDepth = 2607.903060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.407496 # Actual altitude: 100 # Commanded vehicle depth:2576.559553 # Seafloor depth:-2670.415544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.966508 meters # Minimum depth: 2574.735275 meters looking forward 100.000000 meters along route # Maximum depth: 2622.711445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2509.735275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.639523; longitude = -122.811334; captureRadius = 10; duration = 110; initialDepth = 2509.735275; finalDepth = 2576.559553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.97617 # Actual altitude: 100 # Commanded vehicle depth:2509.735275 # Seafloor depth:-2622.711445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.966021 meters # Minimum depth: 2558.469799 meters looking forward 100.000000 meters along route # Maximum depth: 2574.714508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2493.469799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640217; longitude = -122.810451; captureRadius = 10; duration = 110; initialDepth = 2493.469799; finalDepth = 2509.735275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 112.97617 # Actual altitude: 100 # Commanded vehicle depth:2493.469799 # Seafloor depth:-2574.714508 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.965532 meters # Minimum depth: 2552.129545 meters looking forward 100.000000 meters along route # Maximum depth: 2561.390315 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2487.129545 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.640911; longitude = -122.809568; captureRadius = 10; duration = 110; initialDepth = 2487.129545; finalDepth = 2493.469799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.2447090000001 # Actual altitude: 81.2447090000001 # Commanded vehicle depth:2487.129545 # Seafloor depth:-2561.390315 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.50; MB_Bottom_Detect_Filter_Max_Range = 324.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.965044 meters # Minimum depth: 2549.824986 meters looking forward 100.000000 meters along route # Maximum depth: 2550.772720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2484.824986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.641605; longitude = -122.808685; captureRadius = 10; duration = 110; initialDepth = 2484.824986; finalDepth = 2487.129545; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.2607700000003 # Actual altitude: 74.2607700000003 # Commanded vehicle depth:2484.824986 # Seafloor depth:-2550.253101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.70; MB_Bottom_Detect_Filter_Max_Range = 297.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.964556 meters # Minimum depth: 2555.720414 meters looking forward 100.000000 meters along route # Maximum depth: 2572.241158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2490.720414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642298; longitude = -122.807802; captureRadius = 10; duration = 110; initialDepth = 2490.720414; finalDepth = 2484.824986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.4281149999997 # Actual altitude: 70 # Commanded vehicle depth:2490.720414 # Seafloor depth:-2555.720414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 120.828728 meters # Minimum depth: 2579.067156 meters looking forward 100.000000 meters along route # Maximum depth: 2593.627324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2514.067156 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.642992; longitude = -122.806919; captureRadius = 10; duration = 120; initialDepth = 2514.067156; finalDepth = 2490.720414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2514.067156 # Seafloor depth:-2579.067156 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.098921 meters # Minimum depth: 2578.830251 meters looking forward 100.000000 meters along route # Maximum depth: 2593.751387 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2513.830251 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.643748; longitude = -122.805957; captureRadius = 10; duration = 101; initialDepth = 2513.830251; finalDepth = 2514.067156; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9211359999999 # Actual altitude: 79.9211359999999 # Commanded vehicle depth:2513.830251 # Seafloor depth:-2593.751387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 319.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.963092 meters # Minimum depth: 2569.247691 meters looking forward 100.000000 meters along route # Maximum depth: 2574.216521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2504.247691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.644380; longitude = -122.805153; captureRadius = 10; duration = 110; initialDepth = 2504.247691; finalDepth = 2513.830251; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.9211359999999 # Actual altitude: 79.9211359999999 # Commanded vehicle depth:2504.247691 # Seafloor depth:-2574.216521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 319.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.97; MB_Bottom_Detect_Filter_Max_Range = 319.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 239.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.962605 meters # Minimum depth: 2569.312624 meters looking forward 100.000000 meters along route # Maximum depth: 2589.918470 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2504.312624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645074; longitude = -122.804269; captureRadius = 10; duration = 110; initialDepth = 2504.312624; finalDepth = 2504.247691; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9688299999998 # Actual altitude: 70 # Commanded vehicle depth:2504.312624 # Seafloor depth:-2569.312624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.962116 meters # Minimum depth: 2603.014024 meters looking forward 100.000000 meters along route # Maximum depth: 2611.144618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2538.014024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.645767; longitude = -122.803386; captureRadius = 10; duration = 110; initialDepth = 2538.014024; finalDepth = 2504.312624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65 # Actual altitude: 70 # Commanded vehicle depth:2538.014024 # Seafloor depth:-2603.014024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.00; MB_Bottom_Detect_Filter_Max_Range = 280.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.961629 meters # Minimum depth: 2593.117088 meters looking forward 100.000000 meters along route # Maximum depth: 2608.434963 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2528.117088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.646461; longitude = -122.802503; captureRadius = 10; duration = 110; initialDepth = 2528.117088; finalDepth = 2538.014024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.3178750000002 # Actual altitude: 80.3178750000002 # Commanded vehicle depth:2528.117088 # Seafloor depth:-2608.434963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.13; MB_Bottom_Detect_Filter_Max_Range = 321.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.961140 meters # Minimum depth: 2563.768300 meters looking forward 100.000000 meters along route # Maximum depth: 2589.629203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2498.768300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647155; longitude = -122.801620; captureRadius = 10; duration = 110; initialDepth = 2498.768300; finalDepth = 2528.117088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.8609029999998 # Actual altitude: 90.8609029999998 # Commanded vehicle depth:2498.7683 # Seafloor depth:-2589.629203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 363.44; 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 = 363.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 120.910560 meters # Minimum depth: 2524.173487 meters looking forward 100.000000 meters along route # Maximum depth: 2557.102321 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2459.173487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.647849; longitude = -122.800737; captureRadius = 10; duration = 120; initialDepth = 2459.173487; finalDepth = 2498.768300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.9288339999998 # Actual altitude: 97.9288339999998 # Commanded vehicle depth:2459.173487 # Seafloor depth:-2557.102321 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 391.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 101.010258 meters # Minimum depth: 2501.693464 meters looking forward 100.000000 meters along route # Maximum depth: 2520.969063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2436.693464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.648605; longitude = -122.799775; captureRadius = 10; duration = 101; initialDepth = 2436.693464; finalDepth = 2459.173487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.9288339999998 # Actual altitude: 97.9288339999998 # Commanded vehicle depth:2436.693464 # Seafloor depth:-2520.969063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 391.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 391.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.959677 meters # Minimum depth: 2460.950522 meters looking forward 100.000000 meters along route # Maximum depth: 2494.146086 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2395.950522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649236; longitude = -122.798971; captureRadius = 10; duration = 110; initialDepth = 2395.950522; finalDepth = 2436.693464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.1955640000001 # Actual altitude: 98.1955640000001 # Commanded vehicle depth:2395.950522 # Seafloor depth:-2494.146086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 392.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.28; MB_Bottom_Detect_Filter_Max_Range = 392.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.959189 meters # Minimum depth: 2450.708667 meters looking forward 100.000000 meters along route # Maximum depth: 2460.919059 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2385.708667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.649930; longitude = -122.798088; captureRadius = 10; duration = 110; initialDepth = 2385.708667; finalDepth = 2395.950522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.1955640000001 # Actual altitude: 98.1955640000001 # Commanded vehicle depth:2385.708667 # Seafloor depth:-2460.919059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 392.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.28; MB_Bottom_Detect_Filter_Max_Range = 392.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.958701 meters # Minimum depth: 2432.983580 meters looking forward 100.000000 meters along route # Maximum depth: 2443.661294 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2367.983580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.650624; longitude = -122.797205; captureRadius = 10; duration = 110; initialDepth = 2367.983580; finalDepth = 2385.708667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6777139999999 # Actual altitude: 75.6777139999999 # Commanded vehicle depth:2367.98358 # Seafloor depth:-2443.661294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 302.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.958213 meters # Minimum depth: 2423.821859 meters looking forward 100.000000 meters along route # Maximum depth: 2431.639373 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2358.821859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.651318; longitude = -122.796321; captureRadius = 10; duration = 110; initialDepth = 2358.821859; finalDepth = 2367.983580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6777139999999 # Actual altitude: 75.6777139999999 # Commanded vehicle depth:2358.821859 # Seafloor depth:-2431.639373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.27; MB_Bottom_Detect_Filter_Max_Range = 302.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.957726 meters # Minimum depth: 2400.222857 meters looking forward 100.000000 meters along route # Maximum depth: 2415.449994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2335.222857 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652012; longitude = -122.795438; captureRadius = 10; duration = 110; initialDepth = 2335.222857; finalDepth = 2358.821859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2271369999999 # Actual altitude: 80.2271369999999 # Commanded vehicle depth:2335.222857 # Seafloor depth:-2415.449994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 320.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 120.992387 meters # Minimum depth: 2387.315257 meters looking forward 100.000000 meters along route # Maximum depth: 2398.252623 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2322.315257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.652705; longitude = -122.794555; captureRadius = 10; duration = 120; initialDepth = 2322.315257; finalDepth = 2335.222857; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.2271369999999 # Actual altitude: 80.2271369999999 # Commanded vehicle depth:2322.315257 # Seafloor depth:-2398.252623 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 320.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 100.921600 meters # Minimum depth: 2360.380043 meters looking forward 100.000000 meters along route # Maximum depth: 2385.418056 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2295.380043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.653462; longitude = -122.793592; captureRadius = 10; duration = 100; initialDepth = 2295.380043; finalDepth = 2322.315257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.0380129999999 # Actual altitude: 90.0380129999999 # Commanded vehicle depth:2295.380043 # Seafloor depth:-2385.418056 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 360.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.02; MB_Bottom_Detect_Filter_Max_Range = 360.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 110.956262 meters # Minimum depth: 2310.220124 meters looking forward 100.000000 meters along route # Maximum depth: 2336.421005 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2245.220124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654093; longitude = -122.792789; captureRadius = 10; duration = 110; initialDepth = 2245.220124; finalDepth = 2295.380043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.2008810000002 # Actual altitude: 91.2008810000002 # Commanded vehicle depth:2245.220124 # Seafloor depth:-2336.421005 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 364.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.48; MB_Bottom_Detect_Filter_Max_Range = 364.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 273.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 141.203393 meters # Minimum depth: 2279.433772 meters looking forward 100.000000 meters along route # Maximum depth: 2316.100231 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2214.433772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.654787; longitude = -122.791906; captureRadius = 10; duration = 141; initialDepth = 2214.433772; finalDepth = 2245.220124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.666459 # Actual altitude: 100 # Commanded vehicle depth:2214.433772 # Seafloor depth:-2316.100231 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 117.692655 meters # Minimum depth: 2221.921320 meters looking forward 100.000000 meters along route # Maximum depth: 2262.961203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2156.921320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655670; longitude = -122.790782; captureRadius = 10; duration = 117; initialDepth = 2156.921320; finalDepth = 2214.433772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.039883 # Actual altitude: 100 # Commanded vehicle depth:2156.92132 # Seafloor depth:-2262.961203 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 34.770625 meters # Minimum depth: 2187.356427 meters looking forward 100.000000 meters along route # Maximum depth: 2227.065080 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2122.356427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656406; longitude = -122.789845; captureRadius = 10; duration = 34; initialDepth = 2122.356427; finalDepth = 2156.921320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.039883 # Actual altitude: 100 # Commanded vehicle depth:2122.356427 # Seafloor depth:-2194.898112 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.311581 meters # Minimum depth: 2148.077789 meters looking forward 100.000000 meters along route # Maximum depth: 2182.484205 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2083.077789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656553; longitude = -122.789506; captureRadius = 10; duration = 104; initialDepth = 2083.077789; finalDepth = 2122.356427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.4064160000003 # Actual altitude: 99.4064160000003 # Commanded vehicle depth:2083.077789 # Seafloor depth:-2182.484205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 397.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.76; MB_Bottom_Detect_Filter_Max_Range = 397.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.311139 meters # Minimum depth: 2098.200020 meters looking forward 100.000000 meters along route # Maximum depth: 2127.136719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2033.200020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656994; longitude = -122.788489; captureRadius = 10; duration = 104; initialDepth = 2033.200020; finalDepth = 2083.077789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.4064160000003 # Actual altitude: 99.4064160000003 # Commanded vehicle depth:2033.20002 # Seafloor depth:-2127.136719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 397.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.76; MB_Bottom_Detect_Filter_Max_Range = 397.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 298.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.310698 meters # Minimum depth: 2071.795438 meters looking forward 100.000000 meters along route # Maximum depth: 2097.487092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 2006.795438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657436; longitude = -122.787471; captureRadius = 10; duration = 104; initialDepth = 2006.795438; finalDepth = 2033.200020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.9366989999999 # Actual altitude: 93.9366989999999 # Commanded vehicle depth:2006.795438 # Seafloor depth:-2097.487092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 375.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.57; MB_Bottom_Detect_Filter_Max_Range = 375.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 281.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.310257 meters # Minimum depth: 2049.748894 meters looking forward 100.000000 meters along route # Maximum depth: 2068.548149 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 1984.748894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657878; longitude = -122.786454; captureRadius = 10; duration = 104; initialDepth = 1984.748894; finalDepth = 2006.795438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.6916539999997 # Actual altitude: 90.6916539999997 # Commanded vehicle depth:1984.748894 # Seafloor depth:-2068.548149 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 362.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.28; MB_Bottom_Detect_Filter_Max_Range = 362.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 272.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.277921 meters # Minimum depth: 2005.366609 meters looking forward 100.000000 meters along route # Maximum depth: 2044.968957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 1940.366609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658319; longitude = -122.785436; captureRadius = 10; duration = 106; initialDepth = 1940.366609; finalDepth = 1984.748894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.602348 # Actual altitude: 100 # Commanded vehicle depth:1940.366609 # Seafloor depth:-2044.968957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 135.798899 meters # Minimum depth: 1975.399616 meters looking forward 100.000000 meters along route # Maximum depth: 2004.603064 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 1910.399616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658769; longitude = -122.784399; captureRadius = 10; duration = 135; initialDepth = 1910.399616; finalDepth = 1940.366609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.602348 # Actual altitude: 100 # Commanded vehicle depth:1910.399616 # Seafloor depth:-2004.603064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.620849 meters # Minimum depth: 1959.268032 meters looking forward 100.000000 meters along route # Maximum depth: 1965.357717 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 3350.000000 meters # Desired vehicle altitude: 65.000000 meters # Minimum vehicle altitude: 70.000000 meters # Behavior depth of 1894.268032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659344; longitude = -122.783075; captureRadius = 10; duration = 105; initialDepth = 1894.268032; finalDepth = 1910.399616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.203448 # Actual altitude: 94.203448 # Commanded vehicle depth:1894.268032 # Seafloor depth:-1965.357717 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 376.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.68; MB_Bottom_Detect_Filter_Max_Range = 376.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.61; 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: 71.0896850000001 # Actual altitude: 71.0896850000001 # Commanded vehicle depth:1894.268032 # Seafloor depth:-1960.499349 # 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 = 284.36; 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 = 284.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.27; 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: 1959.268032 meters looking forward 100.000000 meters along route # Maximum depth: 1960.499349 meters looking forward 100.000000 meters along route # Vehicle depth: 1894.268032 meters behavior waypoint { latitude = 35.659791; longitude = -122.782044; captureRadius = 10; duration = 500; depth = 1894.268032; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1894.268032 meters set by local depth and desired altitude behavior descend { duration = 10222; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 70.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1959.268032 meters looking forward 100.000000 meters along route # Maximum depth: 1960.499349 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.659791; longitude = -122.782044; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 241.874076; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 70.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 241.874076; 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 = 260.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.00; MB_Bottom_Detect_Filter_Max_Range = 260.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################