# 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: DavidsonSurvey05_50m.rte # Mission File: DavidsonSurvey05_50m.cfg # Distance: 35647.334400 (m) # Estimated Time: 30918 (s) 8.588 (hr) # Abort Time: 21600 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 6384 (s) # Way Points: 17 # Route Points: 331 # Mapping sonar control enabled: # # Mission Parameters: # Desired Vehicle Altitude: 45 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 25 (m) # Maximum Vehicle Depth: 2250 (m) # Abort Vehicle Depth: 2300 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 100 (m) # GPS Duration: 600 (s) # Descend Rate: 0.23 (m/s) # Ascend Rate: 0.36 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -122.731039 35.720775 -1656.819092 0.000000 3 # 1 -122.753560 35.684126 -1568.636871 4546.690195 4 # 2 -122.755239 35.684813 -1586.501862 4716.690195 3 # 3 -122.732719 35.721462 -1581.117035 9263.380389 4 # 4 -122.734399 35.722149 -1612.076111 9433.380389 3 # 5 -122.756919 35.685499 -1618.484009 13980.070584 4 # 6 -122.758599 35.686186 -1583.519989 14150.070584 3 # 7 -122.736080 35.722835 -1724.805328 18696.760779 4 # 8 -122.737760 35.723522 -1820.016388 18866.760779 3 # 9 -122.760278 35.686873 -1557.570465 23413.450973 4 # 10 -122.761958 35.687559 -1609.366211 23583.450973 3 # 11 -122.739440 35.724209 -1912.439758 28130.141168 4 # 12 -122.748973 35.712821 -1884.321259 29659.485271 3 # 13 -122.736524 35.707731 -1699.632355 30919.172955 4 # 14 -122.744031 35.695515 -1726.415802 32434.736344 3 # 15 -122.756479 35.700604 -1622.749176 33694.424028 4 # 16 -122.746720 35.716310 -1915.263672 35647.334400 1 # # A total of 331 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 21600; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 2250.000000; abortDepth = 2300.000000; minAltitude = 50.000000; abortAltitude = 25.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 6384; 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 16 # Segment length 73.202069 meters # Minimum depth: 1915.263672 meters looking forward 100.000000 meters along route # Maximum depth: 1917.207026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1870.263672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716310; longitude = -122.746720; captureRadius = 10; duration = 73; initialDepth = 1870.263672; finalDepth = 1870.263672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1870.263672 # Seafloor depth:-1915.263672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.803297 meters # Minimum depth: 1903.642356 meters looking forward 100.000000 meters along route # Maximum depth: 1911.887037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.642356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.747086; captureRadius = 10; duration = 109; initialDepth = 1858.642356; finalDepth = 1870.263672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2446809999999 # Actual altitude: 53.2446809999999 # Commanded vehicle depth:1858.642356 # Seafloor depth:-1911.887037 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 111.528251 meters # Minimum depth: 1875.547477 meters looking forward 100.000000 meters along route # Maximum depth: 1879.159638 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.547477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.747634; captureRadius = 10; duration = 111; initialDepth = 1830.547477; finalDepth = 1858.642356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.2446809999999 # Actual altitude: 53.2446809999999 # Commanded vehicle depth:1830.547477 # Seafloor depth:-1875.547477 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.30; MB_Bottom_Detect_Filter_Max_Range = 212.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 108.079037 meters # Minimum depth: 1875.738170 meters looking forward 100.000000 meters along route # Maximum depth: 1882.724304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.738170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713941; longitude = -122.748192; captureRadius = 10; duration = 108; initialDepth = 1830.738170; finalDepth = 1830.547477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1830.73817 # Seafloor depth:-1875.738170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.803992 meters # Minimum depth: 1876.528682 meters looking forward 100.000000 meters along route # Maximum depth: 1884.193866 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.528682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.748732; captureRadius = 10; duration = 109; initialDepth = 1831.528682; finalDepth = 1830.738170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.6651840000002 # Actual altitude: 52.6651840000002 # Commanded vehicle depth:1831.528682 # Seafloor depth:-1884.193866 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.07; MB_Bottom_Detect_Filter_Max_Range = 210.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.804223 meters # Minimum depth: 1840.384801 meters looking forward 100.000000 meters along route # Maximum depth: 1862.696022 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.384801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.749281; captureRadius = 10; duration = 109; initialDepth = 1795.384801; finalDepth = 1831.528682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3112210000002 # Actual altitude: 67.3112210000002 # Commanded vehicle depth:1795.384801 # Seafloor depth:-1862.696022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.92; MB_Bottom_Detect_Filter_Max_Range = 269.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 114.116297 meters # Minimum depth: 1775.325302 meters looking forward 100.000000 meters along route # Maximum depth: 1822.253905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.325302 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711306; longitude = -122.749829; captureRadius = 10; duration = 114; initialDepth = 1730.325302; finalDepth = 1795.384801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9286030000001 # Actual altitude: 91.9286030000001 # Commanded vehicle depth:1730.325302 # Seafloor depth:-1822.253905 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 367.71; 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 = 367.71; 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 16 # Segment length 105.492845 meters # Minimum depth: 1758.992372 meters looking forward 100.000000 meters along route # Maximum depth: 1773.936167 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.992372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710388; longitude = -122.750400; captureRadius = 10; duration = 105; initialDepth = 1713.992372; finalDepth = 1730.325302; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.9286030000001 # Actual altitude: 91.9286030000001 # Commanded vehicle depth:1713.992372 # Seafloor depth:-1773.936167 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 367.71; 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 = 367.71; 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 16 # Segment length 109.804918 meters # Minimum depth: 1759.317225 meters looking forward 100.000000 meters along route # Maximum depth: 1787.212805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1714.317225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709540; longitude = -122.750927; captureRadius = 10; duration = 109; initialDepth = 1714.317225; finalDepth = 1713.992372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.9437950000001 # Actual altitude: 59.9437950000001 # Commanded vehicle depth:1714.317225 # Seafloor depth:-1759.317225 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.98; MB_Bottom_Detect_Filter_Max_Range = 239.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.805150 meters # Minimum depth: 1798.064092 meters looking forward 100.000000 meters along route # Maximum depth: 1804.945050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1753.064092 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.751475; captureRadius = 10; duration = 109; initialDepth = 1753.064092; finalDepth = 1714.317225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.880958 # Actual altitude: 51.880958 # Commanded vehicle depth:1753.064092 # Seafloor depth:-1804.945050 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 116.704387 meters # Minimum depth: 1783.181340 meters looking forward 100.000000 meters along route # Maximum depth: 1785.560106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1738.181340 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707773; longitude = -122.752024; captureRadius = 10; duration = 116; initialDepth = 1738.181340; finalDepth = 1753.064092; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.880958 # Actual altitude: 51.880958 # Commanded vehicle depth:1738.18134 # Seafloor depth:-1785.560106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 102.906607 meters # Minimum depth: 1766.510022 meters looking forward 100.000000 meters along route # Maximum depth: 1783.171634 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.510022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706835; longitude = -122.752607; captureRadius = 10; duration = 102; initialDepth = 1721.510022; finalDepth = 1738.181340; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.6616120000001 # Actual altitude: 61.6616120000001 # Commanded vehicle depth:1721.510022 # Seafloor depth:-1783.171634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.66; MB_Bottom_Detect_Filter_Max_Range = 246.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.805845 meters # Minimum depth: 1743.600874 meters looking forward 100.000000 meters along route # Maximum depth: 1763.600070 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.600874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706007; longitude = -122.753122; captureRadius = 10; duration = 109; initialDepth = 1698.600874; finalDepth = 1721.510022; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.999196 # Actual altitude: 64.999196 # Commanded vehicle depth:1698.600874 # Seafloor depth:-1763.600070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.806076 meters # Minimum depth: 1748.872655 meters looking forward 100.000000 meters along route # Maximum depth: 1754.913344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.872655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705124; longitude = -122.753670; captureRadius = 10; duration = 109; initialDepth = 1703.872655; finalDepth = 1698.600874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.999196 # Actual altitude: 64.999196 # Commanded vehicle depth:1703.872655 # Seafloor depth:-1748.872655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; 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; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 119.292521 meters # Minimum depth: 1757.882228 meters looking forward 100.000000 meters along route # Maximum depth: 1786.860964 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1712.882228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704241; longitude = -122.754219; captureRadius = 10; duration = 119; initialDepth = 1712.882228; finalDepth = 1703.872655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1712.882228 # Seafloor depth:-1757.882228 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 100.320327 meters # Minimum depth: 1769.822815 meters looking forward 100.000000 meters along route # Maximum depth: 1791.044698 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1724.822815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703282; longitude = -122.754815; captureRadius = 10; duration = 100; initialDepth = 1724.822815; finalDepth = 1712.882228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8729040000001 # Actual altitude: 62.8729040000001 # Commanded vehicle depth:1724.822815 # Seafloor depth:-1787.695719 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.15; MB_Bottom_Detect_Filter_Max_Range = 251.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 109.806771 meters # Minimum depth: 1713.140246 meters looking forward 100.000000 meters along route # Maximum depth: 1761.445614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.140246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702475; longitude = -122.755316; captureRadius = 10; duration = 109; initialDepth = 1668.140246; finalDepth = 1724.822815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.305368 # Actual altitude: 93.305368 # Commanded vehicle depth:1668.140246 # Seafloor depth:-1761.445614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 373.22; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.32; MB_Bottom_Detect_Filter_Max_Range = 373.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 122.827759 meters # Minimum depth: 1629.216278 meters looking forward 100.000000 meters along route # Maximum depth: 1683.355460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.216278 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701592; longitude = -122.755865; captureRadius = 10; duration = 122; initialDepth = 1584.216278; finalDepth = 1668.140246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.1391819999999 # Actual altitude: 99.1391819999999 # Commanded vehicle depth:1584.216278 # Seafloor depth:-1683.355460 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 396.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.66; MB_Bottom_Detect_Filter_Max_Range = 396.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 83.383335 meters # Minimum depth: 1622.749176 meters looking forward 100.000000 meters along route # Maximum depth: 1650.149030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.749176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700604; longitude = -122.756479; captureRadius = 10; duration = 83; initialDepth = 1577.749176; finalDepth = 1584.216278; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.1391819999999 # Actual altitude: 99.1391819999999 # Commanded vehicle depth:1577.749176 # Seafloor depth:-1622.749176 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 396.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.66; MB_Bottom_Detect_Filter_Max_Range = 396.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 297.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.306428 meters # Minimum depth: 1652.444440 meters looking forward 100.000000 meters along route # Maximum depth: 1683.159492 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.444440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700267; longitude = -122.755655; captureRadius = 10; duration = 109; initialDepth = 1607.444440; finalDepth = 1577.749176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1607.44444 # Seafloor depth:-1652.444440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 109.723028 meters # Minimum depth: 1693.140539 meters looking forward 100.000000 meters along route # Maximum depth: 1731.779714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.140539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699825; longitude = -122.754575; captureRadius = 10; duration = 109; initialDepth = 1648.140539; finalDepth = 1607.444440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1648.140539 # Seafloor depth:-1693.140539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.891286 meters # Minimum depth: 1731.876689 meters looking forward 100.000000 meters along route # Maximum depth: 1744.298562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.876689 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699382; longitude = -122.753490; captureRadius = 10; duration = 108; initialDepth = 1686.876689; finalDepth = 1648.140539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1686.876689 # Seafloor depth:-1731.876689 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 114.523473 meters # Minimum depth: 1711.725699 meters looking forward 100.000000 meters along route # Maximum depth: 1740.766310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.725699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698942; longitude = -122.752414; captureRadius = 10; duration = 114; initialDepth = 1666.725699; finalDepth = 1686.876689; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0406109999999 # Actual altitude: 74.0406109999999 # Commanded vehicle depth:1666.725699 # Seafloor depth:-1740.766310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.16; 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 = 296.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 104.092784 meters # Minimum depth: 1682.467966 meters looking forward 100.000000 meters along route # Maximum depth: 1709.777839 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.467966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698480; longitude = -122.751283; captureRadius = 10; duration = 104; initialDepth = 1637.467966; finalDepth = 1666.725699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0406109999999 # Actual altitude: 74.0406109999999 # Commanded vehicle depth:1637.467966 # Seafloor depth:-1709.777839 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 296.16; 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 = 296.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 119.324006 meters # Minimum depth: 1659.206782 meters looking forward 100.000000 meters along route # Maximum depth: 1678.790573 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.206782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698059; longitude = -122.750254; captureRadius = 10; duration = 119; initialDepth = 1614.206782; finalDepth = 1637.467966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3098730000002 # Actual altitude: 72.3098730000002 # Commanded vehicle depth:1614.206782 # Seafloor depth:-1678.790573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.92; MB_Bottom_Detect_Filter_Max_Range = 289.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 134.051048 meters # Minimum depth: 1663.976768 meters looking forward 100.000000 meters along route # Maximum depth: 1665.762025 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.976768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697577; longitude = -122.749075; captureRadius = 10; duration = 134; initialDepth = 1618.976768; finalDepth = 1614.206782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.583791 # Actual altitude: 64.583791 # Commanded vehicle depth:1618.976768 # Seafloor depth:-1664.724201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 134.051780 meters # Minimum depth: 1671.551778 meters looking forward 100.000000 meters along route # Maximum depth: 1712.375217 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.551778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697036; longitude = -122.747750; captureRadius = 10; duration = 134; initialDepth = 1626.551778; finalDepth = 1618.976768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.747433 # Actual altitude: 50 # Commanded vehicle depth:1626.551778 # Seafloor depth:-1671.551778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 134.052510 meters # Minimum depth: 1730.550285 meters looking forward 100.000000 meters along route # Maximum depth: 1744.670392 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1685.550285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696494; longitude = -122.746426; captureRadius = 10; duration = 134; initialDepth = 1685.550285; finalDepth = 1626.551778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1685.550285 # Seafloor depth:-1730.550285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 108.288006 meters # Minimum depth: 1738.570649 meters looking forward 100.000000 meters along route # Maximum depth: 1746.423280 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1693.570649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695953; longitude = -122.745101; captureRadius = 10; duration = 108; initialDepth = 1693.570649; finalDepth = 1685.550285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.852631 # Actual altitude: 52.852631 # Commanded vehicle depth:1693.570649 # Seafloor depth:-1746.423280 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 96.487076 meters # Minimum depth: 1719.714082 meters looking forward 100.000000 meters along route # Maximum depth: 1726.415802 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.714082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695515; longitude = -122.744031; captureRadius = 10; duration = 96; initialDepth = 1674.714082; finalDepth = 1693.570649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.852631 # Actual altitude: 52.852631 # Commanded vehicle depth:1674.714082 # Seafloor depth:-1726.415802 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.14; MB_Bottom_Detect_Filter_Max_Range = 211.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.563514 meters # Minimum depth: 1707.351275 meters looking forward 100.000000 meters along route # Maximum depth: 1722.365941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.351275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696293; longitude = -122.743553; captureRadius = 10; duration = 109; initialDepth = 1662.351275; finalDepth = 1674.714082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.014666 # Actual altitude: 60.014666 # Commanded vehicle depth:1662.351275 # Seafloor depth:-1722.365941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.01; MB_Bottom_Detect_Filter_Max_Range = 240.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 112.780044 meters # Minimum depth: 1649.136494 meters looking forward 100.000000 meters along route # Maximum depth: 1681.376493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.136494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697176; longitude = -122.743010; captureRadius = 10; duration = 112; initialDepth = 1604.136494; finalDepth = 1662.351275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.2399989999999 # Actual altitude: 77.2399989999999 # Commanded vehicle depth:1604.136494 # Seafloor depth:-1681.376493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.90; MB_Bottom_Detect_Filter_Max_Range = 308.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 106.346302 meters # Minimum depth: 1591.092667 meters looking forward 100.000000 meters along route # Maximum depth: 1647.466178 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.092667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698085; longitude = -122.742452; captureRadius = 10; duration = 106; initialDepth = 1546.092667; finalDepth = 1604.136494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.373511 # Actual altitude: 100 # Commanded vehicle depth:1546.092667 # Seafloor depth:-1647.466178 # 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 14 # Segment length 109.562834 meters # Minimum depth: 1553.598795 meters looking forward 100.000000 meters along route # Maximum depth: 1581.714885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1508.598795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698942; longitude = -122.741925; captureRadius = 10; duration = 109; initialDepth = 1508.598795; finalDepth = 1546.092667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 101.373511 # Actual altitude: 100 # Commanded vehicle depth:1508.598795 # Seafloor depth:-1581.714885 # 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 14 # Segment length 109.562607 meters # Minimum depth: 1554.234459 meters looking forward 100.000000 meters along route # Maximum depth: 1559.442370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.234459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699825; longitude = -122.741382; captureRadius = 10; duration = 109; initialDepth = 1509.234459; finalDepth = 1508.598795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.11609 # Actual altitude: 73.11609 # Commanded vehicle depth:1509.234459 # Seafloor depth:-1554.234459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.25; MB_Bottom_Detect_Filter_Max_Range = 292.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.562380 meters # Minimum depth: 1555.519809 meters looking forward 100.000000 meters along route # Maximum depth: 1577.689869 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.519809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700709; longitude = -122.740839; captureRadius = 10; duration = 109; initialDepth = 1510.519809; finalDepth = 1509.234459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1510.519809 # Seafloor depth:-1555.519809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.562153 meters # Minimum depth: 1586.672497 meters looking forward 100.000000 meters along route # Maximum depth: 1595.358101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.672497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701592; longitude = -122.740297; captureRadius = 10; duration = 109; initialDepth = 1541.672497; finalDepth = 1510.519809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1541.672497 # Seafloor depth:-1586.672497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.561927 meters # Minimum depth: 1574.344292 meters looking forward 100.000000 meters along route # Maximum depth: 1595.420900 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.344292 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702475; longitude = -122.739754; captureRadius = 10; duration = 109; initialDepth = 1529.344292; finalDepth = 1541.672497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0766080000001 # Actual altitude: 66.0766080000001 # Commanded vehicle depth:1529.344292 # Seafloor depth:-1595.420900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 264.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.561700 meters # Minimum depth: 1579.329790 meters looking forward 100.000000 meters along route # Maximum depth: 1610.958847 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.329790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703358; longitude = -122.739211; captureRadius = 10; duration = 109; initialDepth = 1534.329790; finalDepth = 1529.344292; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.0766080000001 # Actual altitude: 66.0766080000001 # Commanded vehicle depth:1534.32979 # Seafloor depth:-1579.329790 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.43; MB_Bottom_Detect_Filter_Max_Range = 264.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.561474 meters # Minimum depth: 1626.029979 meters looking forward 100.000000 meters along route # Maximum depth: 1640.919330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1581.029979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704241; longitude = -122.738669; captureRadius = 10; duration = 109; initialDepth = 1581.029979; finalDepth = 1534.329790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1581.029979 # Seafloor depth:-1626.029979 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.561247 meters # Minimum depth: 1649.359846 meters looking forward 100.000000 meters along route # Maximum depth: 1665.473899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.359846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705124; longitude = -122.738126; captureRadius = 10; duration = 109; initialDepth = 1604.359846; finalDepth = 1581.029979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1604.359846 # Seafloor depth:-1649.359846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.561020 meters # Minimum depth: 1665.977633 meters looking forward 100.000000 meters along route # Maximum depth: 1680.930458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.977633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706007; longitude = -122.737583; captureRadius = 10; duration = 109; initialDepth = 1620.977633; finalDepth = 1604.359846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1620.977633 # Seafloor depth:-1665.977633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 104.329111 meters # Minimum depth: 1685.970152 meters looking forward 100.000000 meters along route # Maximum depth: 1695.381069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1640.970152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706890; longitude = -122.737040; captureRadius = 10; duration = 104; initialDepth = 1640.970152; finalDepth = 1620.977633; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1640.970152 # Seafloor depth:-1685.970152 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 18.988499 meters # Minimum depth: 1693.382579 meters looking forward 100.000000 meters along route # Maximum depth: 1701.686036 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.382579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707731; longitude = -122.736524; captureRadius = 10; duration = 18; initialDepth = 1648.382579; finalDepth = 1640.970152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2497759999999 # Actual altitude: 51.2497759999999 # Commanded vehicle depth:1648.382579 # Seafloor depth:-1699.632355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 100.744026 meters # Minimum depth: 1672.088045 meters looking forward 100.000000 meters along route # Maximum depth: 1700.630578 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1627.088045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707808; longitude = -122.736711; captureRadius = 10; duration = 100; initialDepth = 1627.088045; finalDepth = 1648.382579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.542533 # Actual altitude: 73.542533 # Commanded vehicle depth:1627.088045 # Seafloor depth:-1700.630578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 294.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.42; MB_Bottom_Detect_Filter_Max_Range = 294.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.294063 meters # Minimum depth: 1623.201331 meters looking forward 100.000000 meters along route # Maximum depth: 1666.697466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.201331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708215; longitude = -122.737707; captureRadius = 10; duration = 109; initialDepth = 1578.201331; finalDepth = 1627.088045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 88.4961350000001 # Actual altitude: 88.4961350000001 # Commanded vehicle depth:1578.201331 # Seafloor depth:-1666.697466 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 353.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.40; MB_Bottom_Detect_Filter_Max_Range = 353.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 265.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.293577 meters # Minimum depth: 1557.391879 meters looking forward 100.000000 meters along route # Maximum depth: 1608.871128 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.391879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.738787; captureRadius = 10; duration = 109; initialDepth = 1512.391879; finalDepth = 1578.201331; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.479249 # Actual altitude: 96.479249 # Commanded vehicle depth:1512.391879 # Seafloor depth:-1608.871128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 385.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 385.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.293091 meters # Minimum depth: 1528.226651 meters looking forward 100.000000 meters along route # Maximum depth: 1553.681141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.226651 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709098; longitude = -122.739867; captureRadius = 10; duration = 109; initialDepth = 1483.226651; finalDepth = 1512.391879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.479249 # Actual altitude: 96.479249 # Commanded vehicle depth:1483.226651 # Seafloor depth:-1553.681141 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 385.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.59; MB_Bottom_Detect_Filter_Max_Range = 385.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 289.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.292604 meters # Minimum depth: 1501.492593 meters looking forward 100.000000 meters along route # Maximum depth: 1521.562725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1456.492593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709540; longitude = -122.740947; captureRadius = 10; duration = 109; initialDepth = 1456.492593; finalDepth = 1483.226651; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.4544900000001 # Actual altitude: 70.4544900000001 # Commanded vehicle depth:1456.492593 # Seafloor depth:-1521.562725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.18; MB_Bottom_Detect_Filter_Max_Range = 281.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 109.292119 meters # Minimum depth: 1518.682222 meters looking forward 100.000000 meters along route # Maximum depth: 1577.003419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.682222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.742027; captureRadius = 10; duration = 109; initialDepth = 1473.682222; finalDepth = 1456.492593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0701320000001 # Actual altitude: 65.0701320000001 # Commanded vehicle depth:1473.682222 # Seafloor depth:-1518.682222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.03; MB_Bottom_Detect_Filter_Max_Range = 260.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 112.328324 meters # Minimum depth: 1591.625946 meters looking forward 100.000000 meters along route # Maximum depth: 1656.776629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1546.625946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710423; longitude = -122.743108; captureRadius = 10; duration = 112; initialDepth = 1546.625946; finalDepth = 1473.682222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1546.625946 # Seafloor depth:-1591.625946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 106.254453 meters # Minimum depth: 1658.112872 meters looking forward 100.000000 meters along route # Maximum depth: 1701.642990 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1613.112872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710877; longitude = -122.744218; captureRadius = 10; duration = 106; initialDepth = 1613.112872; finalDepth = 1546.625946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1613.112872 # Seafloor depth:-1658.112872 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 117.134549 meters # Minimum depth: 1713.283855 meters looking forward 100.000000 meters along route # Maximum depth: 1770.776800 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.283855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711306; longitude = -122.745268; captureRadius = 10; duration = 117; initialDepth = 1668.283855; finalDepth = 1613.112872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1668.283855 # Seafloor depth:-1713.283855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 134.032426 meters # Minimum depth: 1777.004840 meters looking forward 100.000000 meters along route # Maximum depth: 1830.623520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1732.004840 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711779; longitude = -122.746426; captureRadius = 10; duration = 134; initialDepth = 1732.004840; finalDepth = 1668.283855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1732.00484 # Seafloor depth:-1777.004840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 123.739953 meters # Minimum depth: 1842.639621 meters looking forward 100.000000 meters along route # Maximum depth: 1877.349848 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1797.639621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712321; longitude = -122.747750; captureRadius = 10; duration = 123; initialDepth = 1797.639621; finalDepth = 1732.004840; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1797.639621 # Seafloor depth:-1842.639621 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 93.072584 meters # Minimum depth: 1882.646811 meters looking forward 100.000000 meters along route # Maximum depth: 1885.586448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1837.646811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712821; longitude = -122.748973; captureRadius = 10; duration = 93; initialDepth = 1837.646811; finalDepth = 1797.639621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.674448 # Actual altitude: 50 # Commanded vehicle depth:1837.646811 # Seafloor depth:-1884.321259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 118.592469 meters # Minimum depth: 1874.285770 meters looking forward 100.000000 meters along route # Maximum depth: 1879.984106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.285770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.748393; captureRadius = 10; duration = 118; initialDepth = 1829.285770; finalDepth = 1837.646811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6983360000002 # Actual altitude: 50.6983360000002 # Commanded vehicle depth:1829.28577 # Seafloor depth:-1879.984106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 126.213812 meters # Minimum depth: 1875.678659 meters looking forward 100.000000 meters along route # Maximum depth: 1892.791516 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1830.678659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714397; longitude = -122.747654; captureRadius = 10; duration = 126; initialDepth = 1830.678659; finalDepth = 1829.285770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6983360000002 # Actual altitude: 50.6983360000002 # Commanded vehicle depth:1830.678659 # Seafloor depth:-1875.678659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.969928 meters # Minimum depth: 1891.022889 meters looking forward 100.000000 meters along route # Maximum depth: 1893.004497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.022889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715337; longitude = -122.746867; captureRadius = 10; duration = 110; initialDepth = 1846.022889; finalDepth = 1830.678659; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9816079999998 # Actual altitude: 50 # Commanded vehicle depth:1846.022889 # Seafloor depth:-1893.004497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 118.591270 meters # Minimum depth: 1890.307194 meters looking forward 100.000000 meters along route # Maximum depth: 1897.442455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1845.307194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.746175; captureRadius = 10; duration = 118; initialDepth = 1845.307194; finalDepth = 1846.022889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9816079999998 # Actual altitude: 50 # Commanded vehicle depth:1845.307194 # Seafloor depth:-1890.307194 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 124.632639 meters # Minimum depth: 1899.128532 meters looking forward 100.000000 meters along route # Maximum depth: 1912.487046 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1854.128532 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717046; longitude = -122.745436; captureRadius = 10; duration = 124; initialDepth = 1854.128532; finalDepth = 1845.307194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1854.128532 # Seafloor depth:-1899.128532 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 112.548703 meters # Minimum depth: 1912.720135 meters looking forward 100.000000 meters along route # Maximum depth: 1921.059879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.720135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717974; longitude = -122.744659; captureRadius = 10; duration = 112; initialDepth = 1867.720135; finalDepth = 1854.128532; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1867.720135 # Seafloor depth:-1912.720135 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 118.590072 meters # Minimum depth: 1932.027725 meters looking forward 100.000000 meters along route # Maximum depth: 1953.044942 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.027725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718812; longitude = -122.743958; captureRadius = 10; duration = 118; initialDepth = 1887.027725; finalDepth = 1867.720135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1887.027725 # Seafloor depth:-1932.027725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 123.051499 meters # Minimum depth: 1956.768502 meters looking forward 100.000000 meters along route # Maximum depth: 1985.283586 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.768502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719695; longitude = -122.743219; captureRadius = 10; duration = 123; initialDepth = 1911.768502; finalDepth = 1887.027725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1911.768502 # Seafloor depth:-1956.768502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 114.127446 meters # Minimum depth: 1985.226773 meters looking forward 100.000000 meters along route # Maximum depth: 1987.774299 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1940.226773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720612; longitude = -122.742452; captureRadius = 10; duration = 114; initialDepth = 1940.226773; finalDepth = 1911.768502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1940.226773 # Seafloor depth:-1985.226773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 118.588874 meters # Minimum depth: 1973.172637 meters looking forward 100.000000 meters along route # Maximum depth: 1987.022730 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1928.172637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721462; longitude = -122.741740; captureRadius = 10; duration = 118; initialDepth = 1928.172637; finalDepth = 1940.226773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2324230000002 # Actual altitude: 58.2324230000002 # Commanded vehicle depth:1928.172637 # Seafloor depth:-1986.405060 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 121.470389 meters # Minimum depth: 1933.400791 meters looking forward 100.000000 meters along route # Maximum depth: 1966.714868 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1888.400791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722345; longitude = -122.741001; captureRadius = 10; duration = 121; initialDepth = 1888.400791; finalDepth = 1928.172637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.314077 # Actual altitude: 78.314077 # Commanded vehicle depth:1888.400791 # Seafloor depth:-1966.714868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 313.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 128.894418 meters # Minimum depth: 1904.724801 meters looking forward 100.000000 meters along route # Maximum depth: 1932.881049 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.724801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723249; longitude = -122.740244; captureRadius = 10; duration = 128; initialDepth = 1859.724801; finalDepth = 1888.400791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.314077 # Actual altitude: 78.314077 # Commanded vehicle depth:1859.724801 # Seafloor depth:-1932.881049 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 313.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.33; MB_Bottom_Detect_Filter_Max_Range = 313.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 234.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 73.069130 meters # Minimum depth: 1903.492276 meters looking forward 100.000000 meters along route # Maximum depth: 1915.039561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.492276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.724209; longitude = -122.739440; captureRadius = 10; duration = 73; initialDepth = 1858.492276; finalDepth = 1859.724801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.156248 # Actual altitude: 73.156248 # Commanded vehicle depth:1858.492276 # Seafloor depth:-1912.439758 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 292.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.26; MB_Bottom_Detect_Filter_Max_Range = 292.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 219.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 103.442154 meters # Minimum depth: 1916.118612 meters looking forward 100.000000 meters along route # Maximum depth: 1934.148865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1871.118612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723620; longitude = -122.739802; captureRadius = 10; duration = 103; initialDepth = 1871.118612; finalDepth = 1858.492276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.947482 # Actual altitude: 53.947482 # Commanded vehicle depth:1871.118612 # Seafloor depth:-1916.118612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 215.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.58; MB_Bottom_Detect_Filter_Max_Range = 215.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.552240 meters # Minimum depth: 1937.878577 meters looking forward 100.000000 meters along route # Maximum depth: 1953.014690 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.878577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722786; longitude = -122.740315; captureRadius = 10; duration = 109; initialDepth = 1892.878577; finalDepth = 1871.118612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1892.878577 # Seafloor depth:-1937.878577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.552466 meters # Minimum depth: 1961.546058 meters looking forward 100.000000 meters along route # Maximum depth: 1970.483444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.546058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721903; longitude = -122.740857; captureRadius = 10; duration = 109; initialDepth = 1916.546058; finalDepth = 1892.878577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1916.546058 # Seafloor depth:-1961.546058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.552693 meters # Minimum depth: 1971.761695 meters looking forward 100.000000 meters along route # Maximum depth: 1974.320166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1926.761695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721020; longitude = -122.741400; captureRadius = 10; duration = 109; initialDepth = 1926.761695; finalDepth = 1916.546058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.5584710000001 # Actual altitude: 50 # Commanded vehicle depth:1926.761695 # Seafloor depth:-1974.320166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.552920 meters # Minimum depth: 1931.217239 meters looking forward 100.000000 meters along route # Maximum depth: 1965.359144 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1886.217239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.741942; captureRadius = 10; duration = 109; initialDepth = 1886.217239; finalDepth = 1926.761695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.141905 # Actual altitude: 79.141905 # Commanded vehicle depth:1886.217239 # Seafloor depth:-1965.359144 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 316.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.553146 meters # Minimum depth: 1906.207944 meters looking forward 100.000000 meters along route # Maximum depth: 1929.234977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1861.207944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.742485; captureRadius = 10; duration = 109; initialDepth = 1861.207944; finalDepth = 1886.217239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.141905 # Actual altitude: 79.141905 # Commanded vehicle depth:1861.207944 # Seafloor depth:-1929.234977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.66; MB_Bottom_Detect_Filter_Max_Range = 316.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.553373 meters # Minimum depth: 1876.567777 meters looking forward 100.000000 meters along route # Maximum depth: 1897.407696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1831.567777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.743027; captureRadius = 10; duration = 109; initialDepth = 1831.567777; finalDepth = 1861.207944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0270330000001 # Actual altitude: 68.0270330000001 # Commanded vehicle depth:1831.567777 # Seafloor depth:-1897.407696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.21; MB_Bottom_Detect_Filter_Max_Range = 272.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.553600 meters # Minimum depth: 1849.972812 meters looking forward 100.000000 meters along route # Maximum depth: 1861.931292 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1804.972812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.743570; captureRadius = 10; duration = 109; initialDepth = 1804.972812; finalDepth = 1831.567777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.839919 # Actual altitude: 65.839919 # Commanded vehicle depth:1804.972812 # Seafloor depth:-1861.931292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.34; MB_Bottom_Detect_Filter_Max_Range = 263.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.376684 meters # Minimum depth: 1831.189847 meters looking forward 100.000000 meters along route # Maximum depth: 1841.760405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1786.189847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716605; longitude = -122.744113; captureRadius = 10; duration = 110; initialDepth = 1786.189847; finalDepth = 1804.972812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.95848 # Actual altitude: 56.95848 # Commanded vehicle depth:1786.189847 # Seafloor depth:-1841.760405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.78; MB_Bottom_Detect_Filter_Max_Range = 227.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 108.731195 meters # Minimum depth: 1824.292495 meters looking forward 100.000000 meters along route # Maximum depth: 1831.124253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.292495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715715; longitude = -122.744659; captureRadius = 10; duration = 108; initialDepth = 1779.292495; finalDepth = 1786.189847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.5705579999999 # Actual altitude: 55.5705579999999 # Commanded vehicle depth:1779.292495 # Seafloor depth:-1831.124253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.23; MB_Bottom_Detect_Filter_Max_Range = 222.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.554279 meters # Minimum depth: 1823.937560 meters looking forward 100.000000 meters along route # Maximum depth: 1824.633271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.937560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.745198; captureRadius = 10; duration = 109; initialDepth = 1778.937560; finalDepth = 1779.292495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.831758 # Actual altitude: 51.831758 # Commanded vehicle depth:1778.93756 # Seafloor depth:-1824.213299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.554507 meters # Minimum depth: 1823.532717 meters looking forward 100.000000 meters along route # Maximum depth: 1823.657171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.532717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.745740; captureRadius = 10; duration = 109; initialDepth = 1778.532717; finalDepth = 1778.937560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2757389999999 # Actual altitude: 50 # Commanded vehicle depth:1778.532717 # Seafloor depth:-1823.532717 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 117.933875 meters # Minimum depth: 1816.754146 meters looking forward 100.000000 meters along route # Maximum depth: 1822.504767 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1771.754146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.746283; captureRadius = 10; duration = 117; initialDepth = 1771.754146; finalDepth = 1778.532717; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7506209999999 # Actual altitude: 50.7506209999999 # Commanded vehicle depth:1771.754146 # Seafloor depth:-1822.504767 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 101.175817 meters # Minimum depth: 1796.277482 meters looking forward 100.000000 meters along route # Maximum depth: 1815.284618 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.277482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712121; longitude = -122.746867; captureRadius = 10; duration = 101; initialDepth = 1751.277482; finalDepth = 1771.754146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0071359999999 # Actual altitude: 64.0071359999999 # Commanded vehicle depth:1751.277482 # Seafloor depth:-1815.284618 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 256.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.555186 meters # Minimum depth: 1781.875916 meters looking forward 100.000000 meters along route # Maximum depth: 1791.786907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.875916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711306; longitude = -122.747368; captureRadius = 10; duration = 109; initialDepth = 1736.875916; finalDepth = 1751.277482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0071359999999 # Actual altitude: 64.0071359999999 # Commanded vehicle depth:1736.875916 # Seafloor depth:-1791.786907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 256.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.555413 meters # Minimum depth: 1799.021637 meters looking forward 100.000000 meters along route # Maximum depth: 1817.656515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.021637 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710423; longitude = -122.747911; captureRadius = 10; duration = 109; initialDepth = 1754.021637; finalDepth = 1736.875916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.910991 # Actual altitude: 54.910991 # Commanded vehicle depth:1754.021637 # Seafloor depth:-1799.021637 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.96; MB_Bottom_Detect_Filter_Max_Range = 219.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.555639 meters # Minimum depth: 1823.717986 meters looking forward 100.000000 meters along route # Maximum depth: 1833.526519 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.717986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709540; longitude = -122.748453; captureRadius = 10; duration = 109; initialDepth = 1778.717986; finalDepth = 1754.021637; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1778.717986 # Seafloor depth:-1823.717986 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.555867 meters # Minimum depth: 1836.016139 meters looking forward 100.000000 meters along route # Maximum depth: 1843.334636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1791.016139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.748996; captureRadius = 10; duration = 109; initialDepth = 1791.016139; finalDepth = 1778.717986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1791.016139 # Seafloor depth:-1836.016139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.556092 meters # Minimum depth: 1840.552197 meters looking forward 100.000000 meters along route # Maximum depth: 1843.596158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.552197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707773; longitude = -122.749539; captureRadius = 10; duration = 109; initialDepth = 1795.552197; finalDepth = 1791.016139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.641347 # Actual altitude: 50 # Commanded vehicle depth:1795.552197 # Seafloor depth:-1843.193544 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.556320 meters # Minimum depth: 1843.012468 meters looking forward 100.000000 meters along route # Maximum depth: 1843.426780 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.012468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706890; longitude = -122.750081; captureRadius = 10; duration = 109; initialDepth = 1798.012468; finalDepth = 1795.552197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.641347 # Actual altitude: 50 # Commanded vehicle depth:1798.012468 # Seafloor depth:-1843.012468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.556546 meters # Minimum depth: 1839.519919 meters looking forward 100.000000 meters along route # Maximum depth: 1841.113561 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1794.519919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706007; longitude = -122.750624; captureRadius = 10; duration = 109; initialDepth = 1794.519919; finalDepth = 1798.012468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5936419999998 # Actual altitude: 50 # Commanded vehicle depth:1794.519919 # Seafloor depth:-1841.113561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 112.648814 meters # Minimum depth: 1800.372201 meters looking forward 100.000000 meters along route # Maximum depth: 1836.569203 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.372201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705124; longitude = -122.751166; captureRadius = 10; duration = 112; initialDepth = 1755.372201; finalDepth = 1794.519919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1970020000001 # Actual altitude: 81.1970020000001 # Commanded vehicle depth:1755.372201 # Seafloor depth:-1836.569203 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.48; MB_Bottom_Detect_Filter_Max_Range = 324.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 106.464959 meters # Minimum depth: 1796.666829 meters looking forward 100.000000 meters along route # Maximum depth: 1800.385706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.666829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704216; longitude = -122.751724; captureRadius = 10; duration = 106; initialDepth = 1751.666829; finalDepth = 1755.372201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1970020000001 # Actual altitude: 81.1970020000001 # Commanded vehicle depth:1751.666829 # Seafloor depth:-1800.385706 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.48; MB_Bottom_Detect_Filter_Max_Range = 324.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.557226 meters # Minimum depth: 1792.155855 meters looking forward 100.000000 meters along route # Maximum depth: 1799.005858 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.155855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703358; longitude = -122.752251; captureRadius = 10; duration = 109; initialDepth = 1747.155855; finalDepth = 1751.666829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.850003 # Actual altitude: 51.850003 # Commanded vehicle depth:1747.155855 # Seafloor depth:-1799.005858 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.557453 meters # Minimum depth: 1780.785079 meters looking forward 100.000000 meters along route # Maximum depth: 1786.561958 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.785079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702475; longitude = -122.752794; captureRadius = 10; duration = 109; initialDepth = 1735.785079; finalDepth = 1747.155855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.850003 # Actual altitude: 51.850003 # Commanded vehicle depth:1735.785079 # Seafloor depth:-1786.561958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.557679 meters # Minimum depth: 1779.801934 meters looking forward 100.000000 meters along route # Maximum depth: 1785.179977 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.801934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701592; longitude = -122.753337; captureRadius = 10; duration = 109; initialDepth = 1734.801934; finalDepth = 1735.785079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.776879 # Actual altitude: 50.776879 # Commanded vehicle depth:1734.801934 # Seafloor depth:-1785.179977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.11; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.557907 meters # Minimum depth: 1707.873850 meters looking forward 100.000000 meters along route # Maximum depth: 1755.984633 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.873850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700709; longitude = -122.753879; captureRadius = 10; duration = 109; initialDepth = 1662.873850; finalDepth = 1734.801934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.1107830000001 # Actual altitude: 93.1107830000001 # Commanded vehicle depth:1662.87385 # Seafloor depth:-1755.984633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 372.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.558133 meters # Minimum depth: 1657.897140 meters looking forward 100.000000 meters along route # Maximum depth: 1702.730862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1612.897140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699825; longitude = -122.754422; captureRadius = 10; duration = 109; initialDepth = 1612.897140; finalDepth = 1662.873850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.1107830000001 # Actual altitude: 93.1107830000001 # Commanded vehicle depth:1612.89714 # Seafloor depth:-1702.730862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 372.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.558360 meters # Minimum depth: 1614.452079 meters looking forward 100.000000 meters along route # Maximum depth: 1642.004316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.452079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698942; longitude = -122.754964; captureRadius = 10; duration = 109; initialDepth = 1569.452079; finalDepth = 1612.897140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.8337219999999 # Actual altitude: 89.8337219999999 # Commanded vehicle depth:1569.452079 # Seafloor depth:-1642.004316 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 359.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.93; MB_Bottom_Detect_Filter_Max_Range = 359.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.558586 meters # Minimum depth: 1565.194151 meters looking forward 100.000000 meters along route # Maximum depth: 1582.352475 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.194151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698059; longitude = -122.755507; captureRadius = 10; duration = 109; initialDepth = 1520.194151; finalDepth = 1569.452079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.5522370000001 # Actual altitude: 72.5522370000001 # Commanded vehicle depth:1520.194151 # Seafloor depth:-1582.352475 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.02; MB_Bottom_Detect_Filter_Max_Range = 290.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.558813 meters # Minimum depth: 1533.456958 meters looking forward 100.000000 meters along route # Maximum depth: 1549.861834 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1488.456958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697176; longitude = -122.756050; captureRadius = 10; duration = 109; initialDepth = 1488.456958; finalDepth = 1520.194151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.158324 # Actual altitude: 62.158324 # Commanded vehicle depth:1488.456958 # Seafloor depth:-1538.879957 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.86; MB_Bottom_Detect_Filter_Max_Range = 248.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.559040 meters # Minimum depth: 1550.833441 meters looking forward 100.000000 meters along route # Maximum depth: 1592.999127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.833441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696293; longitude = -122.756592; captureRadius = 10; duration = 109; initialDepth = 1505.833441; finalDepth = 1488.456958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4229990000001 # Actual altitude: 50.4229990000001 # Commanded vehicle depth:1505.833441 # Seafloor depth:-1550.833441 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.69; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.559267 meters # Minimum depth: 1603.710799 meters looking forward 100.000000 meters along route # Maximum depth: 1610.738353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.710799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695410; longitude = -122.757135; captureRadius = 10; duration = 109; initialDepth = 1558.710799; finalDepth = 1505.833441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1558.710799 # Seafloor depth:-1603.710799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.559493 meters # Minimum depth: 1586.057925 meters looking forward 100.000000 meters along route # Maximum depth: 1604.439101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.057925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694527; longitude = -122.757677; captureRadius = 10; duration = 109; initialDepth = 1541.057925; finalDepth = 1558.710799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3811759999999 # Actual altitude: 63.3811759999999 # Commanded vehicle depth:1541.057925 # Seafloor depth:-1604.439101 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 253.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 114.921066 meters # Minimum depth: 1575.029905 meters looking forward 100.000000 meters along route # Maximum depth: 1581.331845 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.029905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693644; longitude = -122.758220; captureRadius = 10; duration = 114; initialDepth = 1530.029905; finalDepth = 1541.057925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3811759999999 # Actual altitude: 63.3811759999999 # Commanded vehicle depth:1530.029905 # Seafloor depth:-1581.331845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.52; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.35; MB_Bottom_Detect_Filter_Max_Range = 253.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.198601 meters # Minimum depth: 1574.675119 meters looking forward 100.000000 meters along route # Maximum depth: 1579.339424 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.675119 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.692717; longitude = -122.758789; captureRadius = 10; duration = 104; initialDepth = 1529.675119; finalDepth = 1530.029905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3019399999998 # Actual altitude: 51.3019399999998 # Commanded vehicle depth:1529.675119 # Seafloor depth:-1574.675119 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.560174 meters # Minimum depth: 1580.828055 meters looking forward 100.000000 meters along route # Maximum depth: 1582.470450 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1535.828055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.691877; longitude = -122.759305; captureRadius = 10; duration = 109; initialDepth = 1535.828055; finalDepth = 1529.675119; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1535.828055 # Seafloor depth:-1580.828055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.560400 meters # Minimum depth: 1585.184143 meters looking forward 100.000000 meters along route # Maximum depth: 1602.512284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.184143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690994; longitude = -122.759848; captureRadius = 10; duration = 109; initialDepth = 1540.184143; finalDepth = 1535.828055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1540.184143 # Seafloor depth:-1585.184143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 109.560627 meters # Minimum depth: 1615.756178 meters looking forward 100.000000 meters along route # Maximum depth: 1620.093831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1570.756178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690111; longitude = -122.760390; captureRadius = 10; duration = 109; initialDepth = 1570.756178; finalDepth = 1540.184143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3376529999998 # Actual altitude: 50 # Commanded vehicle depth:1570.756178 # Seafloor depth:-1620.093831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 102.078101 meters # Minimum depth: 1608.105333 meters looking forward 100.000000 meters along route # Maximum depth: 1609.739557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.105333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689228; longitude = -122.760933; captureRadius = 10; duration = 102; initialDepth = 1563.105333; finalDepth = 1570.756178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3376529999998 # Actual altitude: 50 # Commanded vehicle depth:1563.105333 # Seafloor depth:-1609.739557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 104.956354 meters # Minimum depth: 1597.829209 meters looking forward 100.000000 meters along route # Maximum depth: 1606.017273 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.829209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688405; longitude = -122.761438; captureRadius = 10; duration = 104; initialDepth = 1552.829209; finalDepth = 1563.105333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.1880639999999 # Actual altitude: 53.1880639999999 # Commanded vehicle depth:1552.829209 # Seafloor depth:-1606.017273 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 52.603751 meters # Minimum depth: 1597.829209 meters looking forward 100.000000 meters along route # Maximum depth: 1609.366211 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.829209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687559; longitude = -122.761958; captureRadius = 10; duration = 52; initialDepth = 1552.829209; finalDepth = 1552.829209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.537002 # Actual altitude: 56.537002 # Commanded vehicle depth:1552.829209 # Seafloor depth:-1609.366211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 117.396249 meters # Minimum depth: 1587.215318 meters looking forward 100.000000 meters along route # Maximum depth: 1591.712901 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.215318 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687347; longitude = -122.761438; captureRadius = 10; duration = 117; initialDepth = 1542.215318; finalDepth = 1552.829209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.537002 # Actual altitude: 56.537002 # Commanded vehicle depth:1542.215318 # Seafloor depth:-1591.712901 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 18.309761 meters # Minimum depth: 1557.570465 meters looking forward 100.000000 meters along route # Maximum depth: 1589.338465 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.570465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686873; longitude = -122.760278; captureRadius = 10; duration = 18; initialDepth = 1512.570465; finalDepth = 1542.215318; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4975830000001 # Actual altitude: 50 # Commanded vehicle depth:1512.570465 # Seafloor depth:-1557.570465 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.561951 meters # Minimum depth: 1552.056777 meters looking forward 100.000000 meters along route # Maximum depth: 1569.184986 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.056777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687020; longitude = -122.760188; captureRadius = 10; duration = 109; initialDepth = 1507.056777; finalDepth = 1512.570465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1507.056777 # Seafloor depth:-1552.056777 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.561725 meters # Minimum depth: 1559.664211 meters looking forward 100.000000 meters along route # Maximum depth: 1570.383664 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1514.664211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687903; longitude = -122.759645; captureRadius = 10; duration = 109; initialDepth = 1514.664211; finalDepth = 1507.056777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.7194529999999 # Actual altitude: 55.7194529999999 # Commanded vehicle depth:1514.664211 # Seafloor depth:-1570.383664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.29; MB_Bottom_Detect_Filter_Max_Range = 222.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.561498 meters # Minimum depth: 1541.419182 meters looking forward 100.000000 meters along route # Maximum depth: 1555.287989 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.419182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688787; longitude = -122.759103; captureRadius = 10; duration = 109; initialDepth = 1496.419182; finalDepth = 1514.664211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8688069999998 # Actual altitude: 58.8688069999998 # Commanded vehicle depth:1496.419182 # Seafloor depth:-1555.287989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.561271 meters # Minimum depth: 1506.501370 meters looking forward 100.000000 meters along route # Maximum depth: 1518.246483 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1461.501370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689670; longitude = -122.758560; captureRadius = 10; duration = 109; initialDepth = 1461.501370; finalDepth = 1496.419182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.8688069999998 # Actual altitude: 58.8688069999998 # Commanded vehicle depth:1461.50137 # Seafloor depth:-1518.246483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.55; MB_Bottom_Detect_Filter_Max_Range = 235.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 111.637383 meters # Minimum depth: 1469.983862 meters looking forward 100.000000 meters along route # Maximum depth: 1489.522879 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.983862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690553; longitude = -122.758017; captureRadius = 10; duration = 111; initialDepth = 1424.983862; finalDepth = 1461.501370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.5390170000001 # Actual altitude: 64.5390170000001 # Commanded vehicle depth:1424.983862 # Seafloor depth:-1489.522879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 258.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.484479 meters # Minimum depth: 1469.697605 meters looking forward 100.000000 meters along route # Maximum depth: 1470.497795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1424.697605 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.691453; longitude = -122.757464; captureRadius = 10; duration = 107; initialDepth = 1424.697605; finalDepth = 1424.983862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.5390170000001 # Actual altitude: 64.5390170000001 # Commanded vehicle depth:1424.697605 # Seafloor depth:-1469.988667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.82; MB_Bottom_Detect_Filter_Max_Range = 258.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.560591 meters # Minimum depth: 1470.256517 meters looking forward 100.000000 meters along route # Maximum depth: 1491.164151 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1425.256517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.692319; longitude = -122.756932; captureRadius = 10; duration = 109; initialDepth = 1425.256517; finalDepth = 1424.697605; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.291062 # Actual altitude: 50 # Commanded vehicle depth:1425.256517 # Seafloor depth:-1470.256517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.560365 meters # Minimum depth: 1502.100252 meters looking forward 100.000000 meters along route # Maximum depth: 1538.335474 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1457.100252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693202; longitude = -122.756390; captureRadius = 10; duration = 109; initialDepth = 1457.100252; finalDepth = 1425.256517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1457.100252 # Seafloor depth:-1502.100252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.560137 meters # Minimum depth: 1534.581837 meters looking forward 100.000000 meters along route # Maximum depth: 1544.165803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.581837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694085; longitude = -122.755847; captureRadius = 10; duration = 109; initialDepth = 1489.581837; finalDepth = 1457.100252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5839660000001 # Actual altitude: 54.5839660000001 # Commanded vehicle depth:1489.581837 # Seafloor depth:-1544.165803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.559911 meters # Minimum depth: 1525.141447 meters looking forward 100.000000 meters along route # Maximum depth: 1574.575895 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1480.141447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694968; longitude = -122.755304; captureRadius = 10; duration = 109; initialDepth = 1480.141447; finalDepth = 1489.581837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5839660000001 # Actual altitude: 54.5839660000001 # Commanded vehicle depth:1480.141447 # Seafloor depth:-1525.141447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.559685 meters # Minimum depth: 1578.149246 meters looking forward 100.000000 meters along route # Maximum depth: 1599.664568 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1533.149246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695851; longitude = -122.754762; captureRadius = 10; duration = 109; initialDepth = 1533.149246; finalDepth = 1480.141447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1533.149246 # Seafloor depth:-1578.149246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.559457 meters # Minimum depth: 1612.375660 meters looking forward 100.000000 meters along route # Maximum depth: 1645.078244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1567.375660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696735; longitude = -122.754219; captureRadius = 10; duration = 109; initialDepth = 1567.375660; finalDepth = 1533.149246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1567.37566 # Seafloor depth:-1612.375660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.559231 meters # Minimum depth: 1673.190696 meters looking forward 100.000000 meters along route # Maximum depth: 1690.417837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.190696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697618; longitude = -122.753676; captureRadius = 10; duration = 109; initialDepth = 1628.190696; finalDepth = 1567.375660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1628.190696 # Seafloor depth:-1673.190696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.559004 meters # Minimum depth: 1715.564638 meters looking forward 100.000000 meters along route # Maximum depth: 1754.379580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.564638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698501; longitude = -122.753134; captureRadius = 10; duration = 109; initialDepth = 1670.564638; finalDepth = 1628.190696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1670.564638 # Seafloor depth:-1715.564638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.558777 meters # Minimum depth: 1754.956362 meters looking forward 100.000000 meters along route # Maximum depth: 1773.936954 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.956362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699384; longitude = -122.752591; captureRadius = 10; duration = 109; initialDepth = 1709.956362; finalDepth = 1670.564638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1709.956362 # Seafloor depth:-1754.956362 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.558551 meters # Minimum depth: 1775.863935 meters looking forward 100.000000 meters along route # Maximum depth: 1778.714994 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1730.863935 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700267; longitude = -122.752049; captureRadius = 10; duration = 109; initialDepth = 1730.863935; finalDepth = 1709.956362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1730.863935 # Seafloor depth:-1775.863935 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.558324 meters # Minimum depth: 1781.493416 meters looking forward 100.000000 meters along route # Maximum depth: 1786.841114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1736.493416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701150; longitude = -122.751506; captureRadius = 10; duration = 109; initialDepth = 1736.493416; finalDepth = 1730.863935; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1736.493416 # Seafloor depth:-1781.493416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.855163 meters # Minimum depth: 1766.907889 meters looking forward 100.000000 meters along route # Maximum depth: 1788.925761 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.907889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702033; longitude = -122.750963; captureRadius = 10; duration = 113; initialDepth = 1721.907889; finalDepth = 1736.493416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0178719999999 # Actual altitude: 67.0178719999999 # Commanded vehicle depth:1721.907889 # Seafloor depth:-1788.925761 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.81; MB_Bottom_Detect_Filter_Max_Range = 268.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 105.260805 meters # Minimum depth: 1763.087157 meters looking forward 100.000000 meters along route # Maximum depth: 1769.419999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.087157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702951; longitude = -122.750400; captureRadius = 10; duration = 105; initialDepth = 1718.087157; finalDepth = 1721.907889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0178719999999 # Actual altitude: 67.0178719999999 # Commanded vehicle depth:1718.087157 # Seafloor depth:-1766.799612 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.07; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.81; MB_Bottom_Detect_Filter_Max_Range = 268.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.557644 meters # Minimum depth: 1768.541681 meters looking forward 100.000000 meters along route # Maximum depth: 1771.952813 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.541681 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703799; longitude = -122.749878; captureRadius = 10; duration = 109; initialDepth = 1723.541681; finalDepth = 1718.087157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7124550000001 # Actual altitude: 50 # Commanded vehicle depth:1723.541681 # Seafloor depth:-1771.952813 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.557417 meters # Minimum depth: 1776.901695 meters looking forward 100.000000 meters along route # Maximum depth: 1779.038513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1731.901695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704683; longitude = -122.749336; captureRadius = 10; duration = 109; initialDepth = 1731.901695; finalDepth = 1723.541681; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4111320000002 # Actual altitude: 50 # Commanded vehicle depth:1731.901695 # Seafloor depth:-1776.901695 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.557191 meters # Minimum depth: 1768.579050 meters looking forward 100.000000 meters along route # Maximum depth: 1776.503411 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.579050 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705566; longitude = -122.748793; captureRadius = 10; duration = 109; initialDepth = 1723.579050; finalDepth = 1731.901695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9243609999999 # Actual altitude: 52.9243609999999 # Commanded vehicle depth:1723.57905 # Seafloor depth:-1776.503411 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.556964 meters # Minimum depth: 1750.998599 meters looking forward 100.000000 meters along route # Maximum depth: 1762.515566 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.998599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706449; longitude = -122.748250; captureRadius = 10; duration = 109; initialDepth = 1705.998599; finalDepth = 1723.579050; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9243609999999 # Actual altitude: 52.9243609999999 # Commanded vehicle depth:1705.998599 # Seafloor depth:-1750.998599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.556737 meters # Minimum depth: 1763.561450 meters looking forward 100.000000 meters along route # Maximum depth: 1771.501890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.561450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707332; longitude = -122.747708; captureRadius = 10; duration = 109; initialDepth = 1718.561450; finalDepth = 1705.998599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1718.56145 # Seafloor depth:-1763.561450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.556511 meters # Minimum depth: 1764.580366 meters looking forward 100.000000 meters along route # Maximum depth: 1770.084812 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.580366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708215; longitude = -122.747165; captureRadius = 10; duration = 109; initialDepth = 1719.580366; finalDepth = 1718.561450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5044460000001 # Actual altitude: 50.5044460000001 # Commanded vehicle depth:1719.580366 # Seafloor depth:-1770.084812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.556284 meters # Minimum depth: 1743.102742 meters looking forward 100.000000 meters along route # Maximum depth: 1746.113757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1698.102742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709098; longitude = -122.746623; captureRadius = 10; duration = 109; initialDepth = 1698.102742; finalDepth = 1719.580366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5044460000001 # Actual altitude: 50.5044460000001 # Commanded vehicle depth:1698.102742 # Seafloor depth:-1746.113757 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.556057 meters # Minimum depth: 1722.373732 meters looking forward 100.000000 meters along route # Maximum depth: 1731.867102 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.373732 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.746080; captureRadius = 10; duration = 109; initialDepth = 1677.373732; finalDepth = 1698.102742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4933699999999 # Actual altitude: 54.4933699999999 # Commanded vehicle depth:1677.373732 # Seafloor depth:-1731.867102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 217.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.555831 meters # Minimum depth: 1704.338347 meters looking forward 100.000000 meters along route # Maximum depth: 1722.270760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1659.338347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710864; longitude = -122.745537; captureRadius = 10; duration = 109; initialDepth = 1659.338347; finalDepth = 1677.373732; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.932413 # Actual altitude: 62.932413 # Commanded vehicle depth:1659.338347 # Seafloor depth:-1722.270760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 251.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.555604 meters # Minimum depth: 1700.478809 meters looking forward 100.000000 meters along route # Maximum depth: 1716.159500 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1655.478809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711747; longitude = -122.744995; captureRadius = 10; duration = 109; initialDepth = 1655.478809; finalDepth = 1659.338347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.932413 # Actual altitude: 62.932413 # Commanded vehicle depth:1655.478809 # Seafloor depth:-1700.478809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.17; MB_Bottom_Detect_Filter_Max_Range = 251.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.555377 meters # Minimum depth: 1710.758812 meters looking forward 100.000000 meters along route # Maximum depth: 1716.595353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1665.758812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712631; longitude = -122.744452; captureRadius = 10; duration = 109; initialDepth = 1665.758812; finalDepth = 1655.478809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1665.758812 # Seafloor depth:-1710.758812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 116.072825 meters # Minimum depth: 1723.908591 meters looking forward 100.000000 meters along route # Maximum depth: 1725.557962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.908591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.743910; captureRadius = 10; duration = 116; initialDepth = 1678.908591; finalDepth = 1665.758812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4309730000002 # Actual altitude: 50 # Commanded vehicle depth:1678.908591 # Seafloor depth:-1724.339564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.037250 meters # Minimum depth: 1726.191237 meters looking forward 100.000000 meters along route # Maximum depth: 1730.209219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1681.191237 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714449; longitude = -122.743335; captureRadius = 10; duration = 103; initialDepth = 1681.191237; finalDepth = 1678.908591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4309730000002 # Actual altitude: 50 # Commanded vehicle depth:1681.191237 # Seafloor depth:-1726.191237 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.554697 meters # Minimum depth: 1731.640065 meters looking forward 100.000000 meters along route # Maximum depth: 1744.873930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.640065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.742824; captureRadius = 10; duration = 109; initialDepth = 1686.640065; finalDepth = 1681.191237; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1686.640065 # Seafloor depth:-1731.640065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.554471 meters # Minimum depth: 1754.601069 meters looking forward 100.000000 meters along route # Maximum depth: 1775.468577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1709.601069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.742282; captureRadius = 10; duration = 109; initialDepth = 1709.601069; finalDepth = 1686.640065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1709.601069 # Seafloor depth:-1754.601069 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.554244 meters # Minimum depth: 1786.755423 meters looking forward 100.000000 meters along route # Maximum depth: 1807.761571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1741.755423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717046; longitude = -122.741739; captureRadius = 10; duration = 109; initialDepth = 1741.755423; finalDepth = 1709.601069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1741.755423 # Seafloor depth:-1786.755423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.554018 meters # Minimum depth: 1823.139260 meters looking forward 100.000000 meters along route # Maximum depth: 1858.618158 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.139260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.741196; captureRadius = 10; duration = 109; initialDepth = 1778.139260; finalDepth = 1741.755423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1778.13926 # Seafloor depth:-1823.139260 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.553791 meters # Minimum depth: 1860.349570 meters looking forward 100.000000 meters along route # Maximum depth: 1884.644881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1815.349570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718812; longitude = -122.740654; captureRadius = 10; duration = 109; initialDepth = 1815.349570; finalDepth = 1778.139260; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1815.34957 # Seafloor depth:-1860.349570 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.553564 meters # Minimum depth: 1887.187259 meters looking forward 100.000000 meters along route # Maximum depth: 1888.369864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1842.187259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719695; longitude = -122.740111; captureRadius = 10; duration = 109; initialDepth = 1842.187259; finalDepth = 1815.349570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1842.187259 # Seafloor depth:-1887.187259 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 109.553338 meters # Minimum depth: 1881.283134 meters looking forward 100.000000 meters along route # Maximum depth: 1891.096961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1836.283134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720579; longitude = -122.739569; captureRadius = 10; duration = 109; initialDepth = 1836.283134; finalDepth = 1842.187259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.8138269999999 # Actual altitude: 54.8138269999999 # Commanded vehicle depth:1836.283134 # Seafloor depth:-1891.096961 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.750321 meters # Minimum depth: 1847.343288 meters looking forward 100.000000 meters along route # Maximum depth: 1871.164702 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1802.343288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721462; longitude = -122.739026; captureRadius = 10; duration = 110; initialDepth = 1802.343288; finalDepth = 1836.283134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.821414 # Actual altitude: 68.821414 # Commanded vehicle depth:1802.343288 # Seafloor depth:-1871.164702 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.53; MB_Bottom_Detect_Filter_Max_Range = 275.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 144.881989 meters # Minimum depth: 1824.922209 meters looking forward 100.000000 meters along route # Maximum depth: 1847.242077 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1779.922209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722354; longitude = -122.738478; captureRadius = 10; duration = 144; initialDepth = 1779.922209; finalDepth = 1802.343288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.821414 # Actual altitude: 68.821414 # Commanded vehicle depth:1779.922209 # Seafloor depth:-1847.242077 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.53; MB_Bottom_Detect_Filter_Max_Range = 275.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 61.418218 meters # Minimum depth: 1807.607417 meters looking forward 100.000000 meters along route # Maximum depth: 1824.922209 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1762.607417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723522; longitude = -122.737760; captureRadius = 10; duration = 61; initialDepth = 1762.607417; finalDepth = 1779.922209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.319868 # Actual altitude: 67.319868 # Commanded vehicle depth:1762.607417 # Seafloor depth:-1820.016388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 269.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 108.581782 meters # Minimum depth: 1733.463221 meters looking forward 100.000000 meters along route # Maximum depth: 1781.176897 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.463221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.723274; longitude = -122.737153; captureRadius = 10; duration = 108; initialDepth = 1688.463221; finalDepth = 1762.607417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.7136760000001 # Actual altitude: 92.7136760000001 # Commanded vehicle depth:1688.463221 # Seafloor depth:-1781.176897 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.09; MB_Bottom_Detect_Filter_Max_Range = 370.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 60.866802 meters # Minimum depth: 1723.144255 meters looking forward 100.000000 meters along route # Maximum depth: 1733.463221 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.144255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722835; longitude = -122.736080; captureRadius = 10; duration = 60; initialDepth = 1678.144255; finalDepth = 1688.463221; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.7136760000001 # Actual altitude: 92.7136760000001 # Commanded vehicle depth:1678.144255 # Seafloor depth:-1724.805328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.09; MB_Bottom_Detect_Filter_Max_Range = 370.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.553869 meters # Minimum depth: 1736.258335 meters looking forward 100.000000 meters along route # Maximum depth: 1751.186857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1691.258335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722345; longitude = -122.736381; captureRadius = 10; duration = 109; initialDepth = 1691.258335; finalDepth = 1678.144255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.661073 # Actual altitude: 50 # Commanded vehicle depth:1691.258335 # Seafloor depth:-1736.258335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.554095 meters # Minimum depth: 1760.980714 meters looking forward 100.000000 meters along route # Maximum depth: 1774.020907 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1715.980714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721462; longitude = -122.736924; captureRadius = 10; duration = 109; initialDepth = 1715.980714; finalDepth = 1691.258335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1715.980714 # Seafloor depth:-1760.980714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 115.007902 meters # Minimum depth: 1771.344584 meters looking forward 100.000000 meters along route # Maximum depth: 1775.341050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1726.344584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720579; longitude = -122.737466; captureRadius = 10; duration = 115; initialDepth = 1726.344584; finalDepth = 1715.980714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8664290000002 # Actual altitude: 50 # Commanded vehicle depth:1726.344584 # Seafloor depth:-1774.211013 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.100970 meters # Minimum depth: 1767.339644 meters looking forward 100.000000 meters along route # Maximum depth: 1770.568127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.339644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719652; longitude = -122.738036; captureRadius = 10; duration = 104; initialDepth = 1722.339644; finalDepth = 1726.344584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.2284830000001 # Actual altitude: 50 # Commanded vehicle depth:1722.339644 # Seafloor depth:-1770.568127 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.554775 meters # Minimum depth: 1758.225592 meters looking forward 100.000000 meters along route # Maximum depth: 1767.289904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1713.225592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718812; longitude = -122.738552; captureRadius = 10; duration = 109; initialDepth = 1713.225592; finalDepth = 1722.339644; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.064312 # Actual altitude: 54.064312 # Commanded vehicle depth:1713.225592 # Seafloor depth:-1767.289904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.555002 meters # Minimum depth: 1756.853483 meters looking forward 100.000000 meters along route # Maximum depth: 1759.204859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1711.853483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.739094; captureRadius = 10; duration = 109; initialDepth = 1711.853483; finalDepth = 1713.225592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.064312 # Actual altitude: 54.064312 # Commanded vehicle depth:1711.853483 # Seafloor depth:-1759.204859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.63; MB_Bottom_Detect_Filter_Max_Range = 216.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.555229 meters # Minimum depth: 1715.235540 meters looking forward 100.000000 meters along route # Maximum depth: 1730.914613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.235540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717046; longitude = -122.739637; captureRadius = 10; duration = 109; initialDepth = 1670.235540; finalDepth = 1711.853483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.679073 # Actual altitude: 60.679073 # Commanded vehicle depth:1670.23554 # Seafloor depth:-1730.914613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.27; MB_Bottom_Detect_Filter_Max_Range = 242.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.555456 meters # Minimum depth: 1659.556199 meters looking forward 100.000000 meters along route # Maximum depth: 1697.423608 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.556199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.740179; captureRadius = 10; duration = 109; initialDepth = 1614.556199; finalDepth = 1670.235540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.867409 # Actual altitude: 82.867409 # Commanded vehicle depth:1614.556199 # Seafloor depth:-1697.423608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 331.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.555682 meters # Minimum depth: 1634.746441 meters looking forward 100.000000 meters along route # Maximum depth: 1656.170738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.746441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.740722; captureRadius = 10; duration = 109; initialDepth = 1589.746441; finalDepth = 1614.556199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.867409 # Actual altitude: 82.867409 # Commanded vehicle depth:1589.746441 # Seafloor depth:-1656.170738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.15; MB_Bottom_Detect_Filter_Max_Range = 331.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.555908 meters # Minimum depth: 1624.175502 meters looking forward 100.000000 meters along route # Maximum depth: 1627.596803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1579.175502 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714397; longitude = -122.741265; captureRadius = 10; duration = 109; initialDepth = 1579.175502; finalDepth = 1589.746441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.424297 # Actual altitude: 66.424297 # Commanded vehicle depth:1579.175502 # Seafloor depth:-1627.596803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.57; MB_Bottom_Detect_Filter_Max_Range = 265.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.556136 meters # Minimum depth: 1615.692248 meters looking forward 100.000000 meters along route # Maximum depth: 1623.809946 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1570.692248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.741807; captureRadius = 10; duration = 109; initialDepth = 1570.692248; finalDepth = 1579.175502; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.117698 # Actual altitude: 53.117698 # Commanded vehicle depth:1570.692248 # Seafloor depth:-1623.809946 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.656260 meters # Minimum depth: 1608.642751 meters looking forward 100.000000 meters along route # Maximum depth: 1620.354889 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1563.642751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712631; longitude = -122.742350; captureRadius = 10; duration = 109; initialDepth = 1563.642751; finalDepth = 1570.692248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.117698 # Actual altitude: 53.117698 # Commanded vehicle depth:1563.642751 # Seafloor depth:-1608.642751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.25; MB_Bottom_Detect_Filter_Max_Range = 212.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.456690 meters # Minimum depth: 1620.352148 meters looking forward 100.000000 meters along route # Maximum depth: 1627.921119 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.352148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711747; longitude = -122.742893; captureRadius = 10; duration = 109; initialDepth = 1575.352148; finalDepth = 1563.642751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1575.352148 # Seafloor depth:-1620.352148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.556815 meters # Minimum depth: 1617.833076 meters looking forward 100.000000 meters along route # Maximum depth: 1624.009485 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.833076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710864; longitude = -122.743435; captureRadius = 10; duration = 109; initialDepth = 1572.833076; finalDepth = 1575.352148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1764090000001 # Actual altitude: 51.1764090000001 # Commanded vehicle depth:1572.833076 # Seafloor depth:-1624.009485 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.557042 meters # Minimum depth: 1619.383161 meters looking forward 100.000000 meters along route # Maximum depth: 1626.145827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.383161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.743978; captureRadius = 10; duration = 109; initialDepth = 1574.383161; finalDepth = 1572.833076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1764090000001 # Actual altitude: 51.1764090000001 # Commanded vehicle depth:1574.383161 # Seafloor depth:-1619.383161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 117.183373 meters # Minimum depth: 1638.205584 meters looking forward 100.000000 meters along route # Maximum depth: 1657.987670 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1593.205584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709098; longitude = -122.744520; captureRadius = 10; duration = 117; initialDepth = 1593.205584; finalDepth = 1574.383161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1593.205584 # Seafloor depth:-1638.205584 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 101.931391 meters # Minimum depth: 1651.970358 meters looking forward 100.000000 meters along route # Maximum depth: 1662.572405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.970358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708154; longitude = -122.745101; captureRadius = 10; duration = 101; initialDepth = 1606.970358; finalDepth = 1593.205584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5733459999999 # Actual altitude: 50.5733459999999 # Commanded vehicle depth:1606.970358 # Seafloor depth:-1657.543704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.557722 meters # Minimum depth: 1665.745332 meters looking forward 100.000000 meters along route # Maximum depth: 1690.492642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.745332 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707332; longitude = -122.745606; captureRadius = 10; duration = 109; initialDepth = 1620.745332; finalDepth = 1606.970358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5733459999999 # Actual altitude: 50.5733459999999 # Commanded vehicle depth:1620.745332 # Seafloor depth:-1665.745332 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.557948 meters # Minimum depth: 1688.662750 meters looking forward 100.000000 meters along route # Maximum depth: 1693.101560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1643.662750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706449; longitude = -122.746148; captureRadius = 10; duration = 109; initialDepth = 1643.662750; finalDepth = 1620.745332; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1643.66275 # Seafloor depth:-1688.662750 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.558175 meters # Minimum depth: 1690.284728 meters looking forward 100.000000 meters along route # Maximum depth: 1694.376019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.284728 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705566; longitude = -122.746691; captureRadius = 10; duration = 109; initialDepth = 1645.284728; finalDepth = 1643.662750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.091291 # Actual altitude: 50 # Commanded vehicle depth:1645.284728 # Seafloor depth:-1694.376019 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.558402 meters # Minimum depth: 1678.332865 meters looking forward 100.000000 meters along route # Maximum depth: 1684.635536 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1633.332865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704683; longitude = -122.747234; captureRadius = 10; duration = 109; initialDepth = 1633.332865; finalDepth = 1645.284728; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3026709999999 # Actual altitude: 51.3026709999999 # Commanded vehicle depth:1633.332865 # Seafloor depth:-1684.635536 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.558629 meters # Minimum depth: 1675.874166 meters looking forward 100.000000 meters along route # Maximum depth: 1678.218619 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.874166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703799; longitude = -122.747776; captureRadius = 10; duration = 109; initialDepth = 1630.874166; finalDepth = 1633.332865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3026709999999 # Actual altitude: 51.3026709999999 # Commanded vehicle depth:1630.874166 # Seafloor depth:-1678.218619 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.558855 meters # Minimum depth: 1676.294212 meters looking forward 100.000000 meters along route # Maximum depth: 1679.114860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.294212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702916; longitude = -122.748319; captureRadius = 10; duration = 109; initialDepth = 1631.294212; finalDepth = 1630.874166; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.3444529999999 # Actual altitude: 50 # Commanded vehicle depth:1631.294212 # Seafloor depth:-1676.294212 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.559081 meters # Minimum depth: 1690.923080 meters looking forward 100.000000 meters along route # Maximum depth: 1704.859133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.923080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702033; longitude = -122.748861; captureRadius = 10; duration = 109; initialDepth = 1645.923080; finalDepth = 1631.294212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1645.92308 # Seafloor depth:-1690.923080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 111.831629 meters # Minimum depth: 1675.737355 meters looking forward 100.000000 meters along route # Maximum depth: 1698.063740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1630.737355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701150; longitude = -122.749404; captureRadius = 10; duration = 111; initialDepth = 1630.737355; finalDepth = 1645.923080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3263850000001 # Actual altitude: 67.3263850000001 # Commanded vehicle depth:1630.737355 # Seafloor depth:-1698.063740 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 269.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 107.287215 meters # Minimum depth: 1673.995631 meters looking forward 100.000000 meters along route # Maximum depth: 1677.005613 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.995631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700249; longitude = -122.749958; captureRadius = 10; duration = 107; initialDepth = 1628.995631; finalDepth = 1630.737355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3263850000001 # Actual altitude: 67.3263850000001 # Commanded vehicle depth:1628.995631 # Seafloor depth:-1675.717122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.93; MB_Bottom_Detect_Filter_Max_Range = 269.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.559762 meters # Minimum depth: 1673.159664 meters looking forward 100.000000 meters along route # Maximum depth: 1692.058458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1628.159664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699384; longitude = -122.750489; captureRadius = 10; duration = 109; initialDepth = 1628.159664; finalDepth = 1628.995631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.721491 # Actual altitude: 50 # Commanded vehicle depth:1628.159664 # Seafloor depth:-1673.159664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.559989 meters # Minimum depth: 1699.647043 meters looking forward 100.000000 meters along route # Maximum depth: 1701.248503 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.647043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698501; longitude = -122.751032; captureRadius = 10; duration = 109; initialDepth = 1654.647043; finalDepth = 1628.159664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.6014600000001 # Actual altitude: 50 # Commanded vehicle depth:1654.647043 # Seafloor depth:-1701.248503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.560215 meters # Minimum depth: 1689.423791 meters looking forward 100.000000 meters along route # Maximum depth: 1699.222809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1644.423791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697618; longitude = -122.751575; captureRadius = 10; duration = 109; initialDepth = 1644.423791; finalDepth = 1654.647043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7990180000002 # Actual altitude: 54.7990180000002 # Commanded vehicle depth:1644.423791 # Seafloor depth:-1699.222809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.560442 meters # Minimum depth: 1627.960654 meters looking forward 100.000000 meters along route # Maximum depth: 1668.059999 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.960654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696735; longitude = -122.752117; captureRadius = 10; duration = 109; initialDepth = 1582.960654; finalDepth = 1644.423791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.0993450000001 # Actual altitude: 85.0993450000001 # Commanded vehicle depth:1582.960654 # Seafloor depth:-1668.059999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 340.40; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.04; MB_Bottom_Detect_Filter_Max_Range = 340.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 255.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.560668 meters # Minimum depth: 1577.240603 meters looking forward 100.000000 meters along route # Maximum depth: 1621.750580 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.240603 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695851; longitude = -122.752660; captureRadius = 10; duration = 109; initialDepth = 1532.240603; finalDepth = 1582.960654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.5099769999999 # Actual altitude: 89.5099769999999 # Commanded vehicle depth:1532.240603 # Seafloor depth:-1621.750580 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 358.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.80; MB_Bottom_Detect_Filter_Max_Range = 358.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.560896 meters # Minimum depth: 1532.725582 meters looking forward 100.000000 meters along route # Maximum depth: 1568.600251 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1487.725582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694968; longitude = -122.753202; captureRadius = 10; duration = 109; initialDepth = 1487.725582; finalDepth = 1532.240603; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.5099769999999 # Actual altitude: 89.5099769999999 # Commanded vehicle depth:1487.725582 # Seafloor depth:-1568.600251 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 358.04; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.80; MB_Bottom_Detect_Filter_Max_Range = 358.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.561122 meters # Minimum depth: 1484.717752 meters looking forward 100.000000 meters along route # Maximum depth: 1511.725139 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.717752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694085; longitude = -122.753745; captureRadius = 10; duration = 109; initialDepth = 1439.717752; finalDepth = 1487.725582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.874669 # Actual altitude: 80.874669 # Commanded vehicle depth:1439.717752 # Seafloor depth:-1511.725139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 323.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.35; MB_Bottom_Detect_Filter_Max_Range = 323.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.561349 meters # Minimum depth: 1416.356922 meters looking forward 100.000000 meters along route # Maximum depth: 1449.939934 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1371.356922 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693202; longitude = -122.754288; captureRadius = 10; duration = 109; initialDepth = 1371.356922; finalDepth = 1439.717752; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.5830120000001 # Actual altitude: 78.5830120000001 # Commanded vehicle depth:1371.356922 # Seafloor depth:-1449.939934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 314.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.43; MB_Bottom_Detect_Filter_Max_Range = 314.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 235.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.561575 meters # Minimum depth: 1377.897013 meters looking forward 100.000000 meters along route # Maximum depth: 1416.060899 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1332.897013 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.692319; longitude = -122.754830; captureRadius = 10; duration = 109; initialDepth = 1332.897013; finalDepth = 1371.356922; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.163886 # Actual altitude: 83.163886 # Commanded vehicle depth:1332.897013 # Seafloor depth:-1416.060899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 332.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.561802 meters # Minimum depth: 1363.903823 meters looking forward 100.000000 meters along route # Maximum depth: 1392.383396 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1318.903823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.691436; longitude = -122.755373; captureRadius = 10; duration = 109; initialDepth = 1318.903823; finalDepth = 1332.897013; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.163886 # Actual altitude: 83.163886 # Commanded vehicle depth:1318.903823 # Seafloor depth:-1363.903823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.27; MB_Bottom_Detect_Filter_Max_Range = 332.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.562029 meters # Minimum depth: 1404.997034 meters looking forward 100.000000 meters along route # Maximum depth: 1420.727720 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1359.997034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690553; longitude = -122.755916; captureRadius = 10; duration = 109; initialDepth = 1359.997034; finalDepth = 1318.903823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1359.997034 # Seafloor depth:-1404.997034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 114.007114 meters # Minimum depth: 1450.212479 meters looking forward 100.000000 meters along route # Maximum depth: 1483.121362 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1405.212479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689670; longitude = -122.756458; captureRadius = 10; duration = 114; initialDepth = 1405.212479; finalDepth = 1359.997034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1405.212479 # Seafloor depth:-1450.212479 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 105.117624 meters # Minimum depth: 1484.553511 meters looking forward 100.000000 meters along route # Maximum depth: 1520.101359 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.553511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688751; longitude = -122.757023; captureRadius = 10; duration = 105; initialDepth = 1439.553511; finalDepth = 1405.212479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1439.553511 # Seafloor depth:-1484.553511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 109.562709 meters # Minimum depth: 1528.210512 meters looking forward 100.000000 meters along route # Maximum depth: 1546.921352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1483.210512 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687903; longitude = -122.757544; captureRadius = 10; duration = 109; initialDepth = 1483.210512; finalDepth = 1439.553511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1483.210512 # Seafloor depth:-1528.210512 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 103.491846 meters # Minimum depth: 1555.280091 meters looking forward 100.000000 meters along route # Maximum depth: 1571.884607 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.280091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687020; longitude = -122.758086; captureRadius = 10; duration = 103; initialDepth = 1510.280091; finalDepth = 1483.210512; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1510.280091 # Seafloor depth:-1555.280091 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 25.415739 meters # Minimum depth: 1571.354385 meters looking forward 100.000000 meters along route # Maximum depth: 1590.925930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1526.354385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686186; longitude = -122.758599; captureRadius = 10; duration = 25; initialDepth = 1526.354385; finalDepth = 1510.280091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1656039999998 # Actual altitude: 57.1656039999998 # Commanded vehicle depth:1526.354385 # Seafloor depth:-1583.519989 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 144.584261 meters # Minimum depth: 1587.752539 meters looking forward 100.000000 meters along route # Maximum depth: 1601.547534 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.752539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686083; longitude = -122.758348; captureRadius = 10; duration = 144; initialDepth = 1542.752539; finalDepth = 1526.354385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.1656039999998 # Actual altitude: 57.1656039999998 # Commanded vehicle depth:1542.752539 # Seafloor depth:-1587.752539 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 24.332524 meters # Minimum depth: 1596.586127 meters looking forward 100.000000 meters along route # Maximum depth: 1618.484009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.586127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685499; longitude = -122.756919; captureRadius = 10; duration = 24; initialDepth = 1551.586127; finalDepth = 1542.752539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.897882 # Actual altitude: 66.897882 # Commanded vehicle depth:1551.586127 # Seafloor depth:-1618.484009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 267.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.563806 meters # Minimum depth: 1585.515299 meters looking forward 100.000000 meters along route # Maximum depth: 1604.657831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.515299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685696; longitude = -122.756798; captureRadius = 10; duration = 109; initialDepth = 1540.515299; finalDepth = 1551.586127; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.897882 # Actual altitude: 66.897882 # Commanded vehicle depth:1540.515299 # Seafloor depth:-1604.657831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.76; MB_Bottom_Detect_Filter_Max_Range = 267.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 112.578230 meters # Minimum depth: 1467.152748 meters looking forward 100.000000 meters along route # Maximum depth: 1526.398821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1422.152748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686579; longitude = -122.756256; captureRadius = 10; duration = 112; initialDepth = 1422.152748; finalDepth = 1540.515299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.246073 # Actual altitude: 100 # Commanded vehicle depth:1422.152748 # Seafloor depth:-1526.398821 # 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 106.548704 meters # Minimum depth: 1432.028573 meters looking forward 100.000000 meters along route # Maximum depth: 1465.945859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1387.028573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687486; longitude = -122.755698; captureRadius = 10; duration = 106; initialDepth = 1387.028573; finalDepth = 1422.152748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.246073 # Actual altitude: 100 # Commanded vehicle depth:1387.028573 # Seafloor depth:-1465.945859 # 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 109.563127 meters # Minimum depth: 1406.540957 meters looking forward 100.000000 meters along route # Maximum depth: 1425.491779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1361.540957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688345; longitude = -122.755171; captureRadius = 10; duration = 109; initialDepth = 1361.540957; finalDepth = 1387.028573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.9172859999999 # Actual altitude: 78.9172859999999 # Commanded vehicle depth:1361.540957 # Seafloor depth:-1425.491779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.57; MB_Bottom_Detect_Filter_Max_Range = 315.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.562900 meters # Minimum depth: 1399.896160 meters looking forward 100.000000 meters along route # Maximum depth: 1409.500304 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1354.896160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689228; longitude = -122.754628; captureRadius = 10; duration = 109; initialDepth = 1354.896160; finalDepth = 1361.540957; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.950822 # Actual altitude: 63.950822 # Commanded vehicle depth:1354.89616 # Seafloor depth:-1399.896160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.58; MB_Bottom_Detect_Filter_Max_Range = 255.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.562673 meters # Minimum depth: 1407.034336 meters looking forward 100.000000 meters along route # Maximum depth: 1413.484023 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1362.034336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690111; longitude = -122.754085; captureRadius = 10; duration = 109; initialDepth = 1362.034336; finalDepth = 1354.896160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.449687 # Actual altitude: 51.449687 # Commanded vehicle depth:1362.034336 # Seafloor depth:-1413.484023 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.562447 meters # Minimum depth: 1410.530303 meters looking forward 100.000000 meters along route # Maximum depth: 1457.079641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1365.530303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690994; longitude = -122.753543; captureRadius = 10; duration = 109; initialDepth = 1365.530303; finalDepth = 1362.034336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.449687 # Actual altitude: 51.449687 # Commanded vehicle depth:1365.530303 # Seafloor depth:-1410.530303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.80; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.562220 meters # Minimum depth: 1462.526239 meters looking forward 100.000000 meters along route # Maximum depth: 1486.112473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1417.526239 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.691877; longitude = -122.753000; captureRadius = 10; duration = 109; initialDepth = 1417.526239; finalDepth = 1365.530303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1417.526239 # Seafloor depth:-1462.526239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.561993 meters # Minimum depth: 1498.615298 meters looking forward 100.000000 meters along route # Maximum depth: 1512.878484 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1453.615298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.692761; longitude = -122.752457; captureRadius = 10; duration = 109; initialDepth = 1453.615298; finalDepth = 1417.526239; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1453.615298 # Seafloor depth:-1498.615298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.561766 meters # Minimum depth: 1517.550553 meters looking forward 100.000000 meters along route # Maximum depth: 1517.966776 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1472.550553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693644; longitude = -122.751915; captureRadius = 10; duration = 109; initialDepth = 1472.550553; finalDepth = 1453.615298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4162229999999 # Actual altitude: 50 # Commanded vehicle depth:1472.550553 # Seafloor depth:-1517.966776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.561540 meters # Minimum depth: 1516.299563 meters looking forward 100.000000 meters along route # Maximum depth: 1567.884352 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.299563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694527; longitude = -122.751372; captureRadius = 10; duration = 109; initialDepth = 1471.299563; finalDepth = 1472.550553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.4162229999999 # Actual altitude: 50 # Commanded vehicle depth:1471.299563 # Seafloor depth:-1516.299563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.561313 meters # Minimum depth: 1569.073902 meters looking forward 100.000000 meters along route # Maximum depth: 1603.573094 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1524.073902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695410; longitude = -122.750829; captureRadius = 10; duration = 109; initialDepth = 1524.073902; finalDepth = 1471.299563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1524.073902 # Seafloor depth:-1569.073902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.561087 meters # Minimum depth: 1613.283547 meters looking forward 100.000000 meters along route # Maximum depth: 1619.887276 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.283547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696293; longitude = -122.750287; captureRadius = 10; duration = 109; initialDepth = 1568.283547; finalDepth = 1524.073902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1568.283547 # Seafloor depth:-1613.283547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.560859 meters # Minimum depth: 1629.548291 meters looking forward 100.000000 meters along route # Maximum depth: 1658.236121 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.548291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697176; longitude = -122.749744; captureRadius = 10; duration = 109; initialDepth = 1584.548291; finalDepth = 1568.283547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1584.548291 # Seafloor depth:-1629.548291 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 114.699253 meters # Minimum depth: 1667.394197 meters looking forward 100.000000 meters along route # Maximum depth: 1673.773791 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.394197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698059; longitude = -122.749201; captureRadius = 10; duration = 114; initialDepth = 1622.394197; finalDepth = 1584.548291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1622.394197 # Seafloor depth:-1667.394197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 104.421787 meters # Minimum depth: 1647.327601 meters looking forward 100.000000 meters along route # Maximum depth: 1666.139138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1602.327601 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698984; longitude = -122.748633; captureRadius = 10; duration = 104; initialDepth = 1602.327601; finalDepth = 1622.394197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.811537 # Actual altitude: 63.811537 # Commanded vehicle depth:1602.327601 # Seafloor depth:-1666.139138 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 255.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.560179 meters # Minimum depth: 1645.178098 meters looking forward 100.000000 meters along route # Maximum depth: 1651.195968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1600.178098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699825; longitude = -122.748116; captureRadius = 10; duration = 109; initialDepth = 1600.178098; finalDepth = 1602.327601; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.811537 # Actual altitude: 63.811537 # Commanded vehicle depth:1600.178098 # Seafloor depth:-1645.178098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.52; MB_Bottom_Detect_Filter_Max_Range = 255.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.559953 meters # Minimum depth: 1617.290354 meters looking forward 100.000000 meters along route # Maximum depth: 1638.896830 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.290354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700709; longitude = -122.747573; captureRadius = 10; duration = 109; initialDepth = 1572.290354; finalDepth = 1600.178098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6064759999999 # Actual altitude: 66.6064759999999 # Commanded vehicle depth:1572.290354 # Seafloor depth:-1638.896830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 266.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.559727 meters # Minimum depth: 1576.567594 meters looking forward 100.000000 meters along route # Maximum depth: 1589.631548 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.567594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701592; longitude = -122.747031; captureRadius = 10; duration = 109; initialDepth = 1531.567594; finalDepth = 1572.290354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.6064759999999 # Actual altitude: 66.6064759999999 # Commanded vehicle depth:1531.567594 # Seafloor depth:-1589.631548 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.43; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.64; MB_Bottom_Detect_Filter_Max_Range = 266.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.559499 meters # Minimum depth: 1575.973636 meters looking forward 100.000000 meters along route # Maximum depth: 1576.842394 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.973636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702475; longitude = -122.746488; captureRadius = 10; duration = 109; initialDepth = 1530.973636; finalDepth = 1531.567594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.063954 # Actual altitude: 58.063954 # Commanded vehicle depth:1530.973636 # Seafloor depth:-1576.705173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.23; MB_Bottom_Detect_Filter_Max_Range = 232.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.559273 meters # Minimum depth: 1576.725057 meters looking forward 100.000000 meters along route # Maximum depth: 1583.555957 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1531.725057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703358; longitude = -122.745946; captureRadius = 10; duration = 109; initialDepth = 1531.725057; finalDepth = 1530.973636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.7315370000001 # Actual altitude: 50 # Commanded vehicle depth:1531.725057 # Seafloor depth:-1576.725057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.559047 meters # Minimum depth: 1586.742622 meters looking forward 100.000000 meters along route # Maximum depth: 1603.163469 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.742622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704241; longitude = -122.745403; captureRadius = 10; duration = 109; initialDepth = 1541.742622; finalDepth = 1531.725057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1541.742622 # Seafloor depth:-1586.742622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.558819 meters # Minimum depth: 1614.783206 meters looking forward 100.000000 meters along route # Maximum depth: 1643.756068 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1569.783206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705124; longitude = -122.744860; captureRadius = 10; duration = 109; initialDepth = 1569.783206; finalDepth = 1541.742622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1569.783206 # Seafloor depth:-1614.783206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.558594 meters # Minimum depth: 1627.006088 meters looking forward 100.000000 meters along route # Maximum depth: 1654.374182 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1582.006088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706007; longitude = -122.744318; captureRadius = 10; duration = 109; initialDepth = 1582.006088; finalDepth = 1569.783206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.3680939999999 # Actual altitude: 72.3680939999999 # Commanded vehicle depth:1582.006088 # Seafloor depth:-1654.374182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.95; MB_Bottom_Detect_Filter_Max_Range = 289.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.558366 meters # Minimum depth: 1589.588524 meters looking forward 100.000000 meters along route # Maximum depth: 1626.926097 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1544.588524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706890; longitude = -122.743775; captureRadius = 10; duration = 109; initialDepth = 1544.588524; finalDepth = 1582.006088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.337573 # Actual altitude: 82.337573 # Commanded vehicle depth:1544.588524 # Seafloor depth:-1626.926097 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 329.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.558140 meters # Minimum depth: 1542.929583 meters looking forward 100.000000 meters along route # Maximum depth: 1579.201870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1497.929583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707773; longitude = -122.743232; captureRadius = 10; duration = 109; initialDepth = 1497.929583; finalDepth = 1544.588524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.337573 # Actual altitude: 82.337573 # Commanded vehicle depth:1497.929583 # Seafloor depth:-1579.201870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 329.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.94; MB_Bottom_Detect_Filter_Max_Range = 329.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 247.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.557913 meters # Minimum depth: 1516.929529 meters looking forward 100.000000 meters along route # Maximum depth: 1529.762718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1471.929529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.742690; captureRadius = 10; duration = 109; initialDepth = 1471.929529; finalDepth = 1497.929583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.272287 # Actual altitude: 81.272287 # Commanded vehicle depth:1471.929529 # Seafloor depth:-1529.762718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.51; MB_Bottom_Detect_Filter_Max_Range = 325.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 116.820163 meters # Minimum depth: 1507.636058 meters looking forward 100.000000 meters along route # Maximum depth: 1531.960545 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1462.636058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709540; longitude = -122.742147; captureRadius = 10; duration = 116; initialDepth = 1462.636058; finalDepth = 1471.929529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.8331889999999 # Actual altitude: 57.8331889999999 # Commanded vehicle depth:1462.636058 # Seafloor depth:-1507.636058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 231.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 102.294983 meters # Minimum depth: 1535.849556 meters looking forward 100.000000 meters along route # Maximum depth: 1579.543576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1490.849556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710481; longitude = -122.741568; captureRadius = 10; duration = 102; initialDepth = 1490.849556; finalDepth = 1462.636058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1490.849556 # Seafloor depth:-1535.849556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.557233 meters # Minimum depth: 1567.209254 meters looking forward 100.000000 meters along route # Maximum depth: 1584.142370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.209254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711306; longitude = -122.741062; captureRadius = 10; duration = 109; initialDepth = 1522.209254; finalDepth = 1490.849556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9331159999999 # Actual altitude: 61.9331159999999 # Commanded vehicle depth:1522.209254 # Seafloor depth:-1584.142370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 247.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.557007 meters # Minimum depth: 1541.561682 meters looking forward 100.000000 meters along route # Maximum depth: 1553.743974 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.561682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.740519; captureRadius = 10; duration = 109; initialDepth = 1496.561682; finalDepth = 1522.209254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9331159999999 # Actual altitude: 61.9331159999999 # Commanded vehicle depth:1496.561682 # Seafloor depth:-1553.743974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.77; MB_Bottom_Detect_Filter_Max_Range = 247.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.556780 meters # Minimum depth: 1541.397826 meters looking forward 100.000000 meters along route # Maximum depth: 1547.915030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1496.397826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.739976; captureRadius = 10; duration = 109; initialDepth = 1496.397826; finalDepth = 1496.561682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.182292 # Actual altitude: 57.182292 # Commanded vehicle depth:1496.397826 # Seafloor depth:-1541.397826 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 228.73; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.87; MB_Bottom_Detect_Filter_Max_Range = 228.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.556553 meters # Minimum depth: 1549.550967 meters looking forward 100.000000 meters along route # Maximum depth: 1586.537125 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1504.550967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.739434; captureRadius = 10; duration = 109; initialDepth = 1504.550967; finalDepth = 1496.397826; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1504.550967 # Seafloor depth:-1549.550967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.556327 meters # Minimum depth: 1588.829357 meters looking forward 100.000000 meters along route # Maximum depth: 1632.038665 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1543.829357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.738891; captureRadius = 10; duration = 109; initialDepth = 1543.829357; finalDepth = 1504.550967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1543.829357 # Seafloor depth:-1588.829357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.556100 meters # Minimum depth: 1649.642943 meters looking forward 100.000000 meters along route # Maximum depth: 1672.294741 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1604.642943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715721; longitude = -122.738349; captureRadius = 10; duration = 109; initialDepth = 1604.642943; finalDepth = 1543.829357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1604.642943 # Seafloor depth:-1649.642943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.555874 meters # Minimum depth: 1682.387376 meters looking forward 100.000000 meters along route # Maximum depth: 1691.794905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1637.387376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716605; longitude = -122.737806; captureRadius = 10; duration = 109; initialDepth = 1637.387376; finalDepth = 1604.642943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1637.387376 # Seafloor depth:-1682.387376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 111.430987 meters # Minimum depth: 1667.441531 meters looking forward 100.000000 meters along route # Maximum depth: 1678.850062 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.441531 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.737263; captureRadius = 10; duration = 111; initialDepth = 1622.441531; finalDepth = 1637.387376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.408531 # Actual altitude: 56.408531 # Commanded vehicle depth:1622.441531 # Seafloor depth:-1678.850062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.63; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 107.680080 meters # Minimum depth: 1651.389148 meters looking forward 100.000000 meters along route # Maximum depth: 1668.661687 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1606.389148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718386; longitude = -122.736711; captureRadius = 10; duration = 107; initialDepth = 1606.389148; finalDepth = 1622.441531; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2725390000001 # Actual altitude: 62.2725390000001 # Commanded vehicle depth:1606.389148 # Seafloor depth:-1668.661687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 249.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.555194 meters # Minimum depth: 1643.397489 meters looking forward 100.000000 meters along route # Maximum depth: 1663.503850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.397489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.736178; captureRadius = 10; duration = 109; initialDepth = 1598.397489; finalDepth = 1606.389148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2725390000001 # Actual altitude: 62.2725390000001 # Commanded vehicle depth:1598.397489 # Seafloor depth:-1643.397489 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.91; MB_Bottom_Detect_Filter_Max_Range = 249.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 139.349986 meters # Minimum depth: 1642.559753 meters looking forward 100.000000 meters along route # Maximum depth: 1665.500072 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1597.559753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.735635; captureRadius = 10; duration = 139; initialDepth = 1597.559753; finalDepth = 1598.397489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.940319 # Actual altitude: 67.940319 # Commanded vehicle depth:1597.559753 # Seafloor depth:-1665.500072 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 271.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.187189 meters # Minimum depth: 1625.410063 meters looking forward 100.000000 meters along route # Maximum depth: 1637.107915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.410063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721260; longitude = -122.734945; captureRadius = 10; duration = 110; initialDepth = 1580.410063; finalDepth = 1597.559753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.940319 # Actual altitude: 67.940319 # Commanded vehicle depth:1580.410063 # Seafloor depth:-1637.107915 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 271.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.18; MB_Bottom_Detect_Filter_Max_Range = 271.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 60.697671 meters # Minimum depth: 1596.616697 meters looking forward 100.000000 meters along route # Maximum depth: 1627.464982 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1551.616697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.722149; longitude = -122.734399; captureRadius = 10; duration = 60; initialDepth = 1551.616697; finalDepth = 1580.410063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.4594140000002 # Actual altitude: 60.4594140000002 # Commanded vehicle depth:1551.616697 # Seafloor depth:-1612.076111 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.18; MB_Bottom_Detect_Filter_Max_Range = 241.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 109.302329 meters # Minimum depth: 1552.710481 meters looking forward 100.000000 meters along route # Maximum depth: 1579.640161 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.710481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721903; longitude = -122.733799; captureRadius = 10; duration = 109; initialDepth = 1507.710481; finalDepth = 1551.616697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.92968 # Actual altitude: 71.92968 # Commanded vehicle depth:1507.710481 # Seafloor depth:-1579.640161 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 287.72; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.77; MB_Bottom_Detect_Filter_Max_Range = 287.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 215.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 54.762504 meters # Minimum depth: 1552.710481 meters looking forward 100.000000 meters along route # Maximum depth: 1581.117035 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.710481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721462; longitude = -122.732719; captureRadius = 10; duration = 54; initialDepth = 1507.710481; finalDepth = 1507.710481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4065539999999 # Actual altitude: 73.4065539999999 # Commanded vehicle depth:1507.710481 # Seafloor depth:-1581.117035 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.63; 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 = 293.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.555725 meters # Minimum depth: 1574.835164 meters looking forward 100.000000 meters along route # Maximum depth: 1577.035593 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1529.835164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.721020; longitude = -122.732990; captureRadius = 10; duration = 109; initialDepth = 1529.835164; finalDepth = 1507.710481; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 73.4065539999999 # Actual altitude: 73.4065539999999 # Commanded vehicle depth:1529.835164 # Seafloor depth:-1574.835164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 293.63; 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 = 293.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 220.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.555952 meters # Minimum depth: 1598.526394 meters looking forward 100.000000 meters along route # Maximum depth: 1613.062685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1553.526394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.720137; longitude = -122.733533; captureRadius = 10; duration = 109; initialDepth = 1553.526394; finalDepth = 1529.835164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1553.526394 # Seafloor depth:-1598.526394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.556178 meters # Minimum depth: 1613.230549 meters looking forward 100.000000 meters along route # Maximum depth: 1636.012297 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.230549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719254; longitude = -122.734076; captureRadius = 10; duration = 109; initialDepth = 1568.230549; finalDepth = 1553.526394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1568.230549 # Seafloor depth:-1613.230549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.556405 meters # Minimum depth: 1646.014038 meters looking forward 100.000000 meters along route # Maximum depth: 1672.226332 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.014038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718371; longitude = -122.734618; captureRadius = 10; duration = 109; initialDepth = 1601.014038; finalDepth = 1568.230549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1601.014038 # Seafloor depth:-1646.014038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.556632 meters # Minimum depth: 1668.129324 meters looking forward 100.000000 meters along route # Maximum depth: 1676.116712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1623.129324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717488; longitude = -122.735161; captureRadius = 10; duration = 109; initialDepth = 1623.129324; finalDepth = 1601.014038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.987388 # Actual altitude: 52.987388 # Commanded vehicle depth:1623.129324 # Seafloor depth:-1676.116712 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 114.298684 meters # Minimum depth: 1667.587814 meters looking forward 100.000000 meters along route # Maximum depth: 1676.565326 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1622.587814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716605; longitude = -122.735704; captureRadius = 10; duration = 114; initialDepth = 1622.587814; finalDepth = 1623.129324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.987388 # Actual altitude: 52.987388 # Commanded vehicle depth:1622.587814 # Seafloor depth:-1670.326255 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.19; MB_Bottom_Detect_Filter_Max_Range = 211.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 104.815259 meters # Minimum depth: 1664.996478 meters looking forward 100.000000 meters along route # Maximum depth: 1675.894968 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.996478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715683; longitude = -122.736270; captureRadius = 10; duration = 104; initialDepth = 1619.996478; finalDepth = 1622.587814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.89849 # Actual altitude: 55.89849 # Commanded vehicle depth:1619.996478 # Seafloor depth:-1675.894968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.557312 meters # Minimum depth: 1650.995729 meters looking forward 100.000000 meters along route # Maximum depth: 1665.031938 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1605.995729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714838; longitude = -122.736789; captureRadius = 10; duration = 109; initialDepth = 1605.995729; finalDepth = 1619.996478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0362090000001 # Actual altitude: 59.0362090000001 # Commanded vehicle depth:1605.995729 # Seafloor depth:-1665.031938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 236.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.557538 meters # Minimum depth: 1636.752025 meters looking forward 100.000000 meters along route # Maximum depth: 1639.342874 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1591.752025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713955; longitude = -122.737332; captureRadius = 10; duration = 109; initialDepth = 1591.752025; finalDepth = 1605.995729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0362090000001 # Actual altitude: 59.0362090000001 # Commanded vehicle depth:1591.752025 # Seafloor depth:-1639.342874 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.61; MB_Bottom_Detect_Filter_Max_Range = 236.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.557764 meters # Minimum depth: 1622.658164 meters looking forward 100.000000 meters along route # Maximum depth: 1633.981460 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1577.658164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713072; longitude = -122.737874; captureRadius = 10; duration = 109; initialDepth = 1577.658164; finalDepth = 1591.752025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.323296 # Actual altitude: 56.323296 # Commanded vehicle depth:1577.658164 # Seafloor depth:-1633.981460 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.29; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.53; MB_Bottom_Detect_Filter_Max_Range = 225.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.557992 meters # Minimum depth: 1587.546678 meters looking forward 100.000000 meters along route # Maximum depth: 1612.393389 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.546678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712189; longitude = -122.738417; captureRadius = 10; duration = 109; initialDepth = 1542.546678; finalDepth = 1577.658164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8467110000001 # Actual altitude: 69.8467110000001 # Commanded vehicle depth:1542.546678 # Seafloor depth:-1612.393389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 279.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.558217 meters # Minimum depth: 1579.507324 meters looking forward 100.000000 meters along route # Maximum depth: 1586.066944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.507324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711306; longitude = -122.738960; captureRadius = 10; duration = 109; initialDepth = 1534.507324; finalDepth = 1542.546678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8467110000001 # Actual altitude: 69.8467110000001 # Commanded vehicle depth:1534.507324 # Seafloor depth:-1586.066944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.94; MB_Bottom_Detect_Filter_Max_Range = 279.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.558445 meters # Minimum depth: 1555.075088 meters looking forward 100.000000 meters along route # Maximum depth: 1572.067821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1510.075088 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710423; longitude = -122.739502; captureRadius = 10; duration = 109; initialDepth = 1510.075088; finalDepth = 1534.507324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.992733 # Actual altitude: 61.992733 # Commanded vehicle depth:1510.075088 # Seafloor depth:-1572.067821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 247.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.558671 meters # Minimum depth: 1534.130183 meters looking forward 100.000000 meters along route # Maximum depth: 1543.921723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.130183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709540; longitude = -122.740045; captureRadius = 10; duration = 109; initialDepth = 1489.130183; finalDepth = 1510.075088; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.992733 # Actual altitude: 61.992733 # Commanded vehicle depth:1489.130183 # Seafloor depth:-1543.921723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.97; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.80; MB_Bottom_Detect_Filter_Max_Range = 247.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.558898 meters # Minimum depth: 1544.683846 meters looking forward 100.000000 meters along route # Maximum depth: 1584.097218 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1499.683846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708657; longitude = -122.740588; captureRadius = 10; duration = 109; initialDepth = 1499.683846; finalDepth = 1489.130183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7915399999999 # Actual altitude: 54.7915399999999 # Commanded vehicle depth:1499.683846 # Seafloor depth:-1544.683846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.92; MB_Bottom_Detect_Filter_Max_Range = 219.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.559124 meters # Minimum depth: 1584.420955 meters looking forward 100.000000 meters along route # Maximum depth: 1626.580649 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.420955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707773; longitude = -122.741130; captureRadius = 10; duration = 109; initialDepth = 1539.420955; finalDepth = 1499.683846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1539.420955 # Seafloor depth:-1584.420955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.559351 meters # Minimum depth: 1635.345565 meters looking forward 100.000000 meters along route # Maximum depth: 1655.315065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1590.345565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706890; longitude = -122.741673; captureRadius = 10; duration = 109; initialDepth = 1590.345565; finalDepth = 1539.420955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1590.345565 # Seafloor depth:-1635.345565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.559578 meters # Minimum depth: 1660.010730 meters looking forward 100.000000 meters along route # Maximum depth: 1662.914207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1615.010730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706007; longitude = -122.742216; captureRadius = 10; duration = 109; initialDepth = 1615.010730; finalDepth = 1590.345565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9034770000001 # Actual altitude: 50 # Commanded vehicle depth:1615.01073 # Seafloor depth:-1662.914207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.377417 meters # Minimum depth: 1573.356916 meters looking forward 100.000000 meters along route # Maximum depth: 1637.315508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1528.356916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705124; longitude = -122.742758; captureRadius = 10; duration = 116; initialDepth = 1528.356916; finalDepth = 1615.010730; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.958592 # Actual altitude: 100 # Commanded vehicle depth:1528.356916 # Seafloor depth:-1637.315508 # 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 3 # Segment length 102.742418 meters # Minimum depth: 1522.296036 meters looking forward 100.000000 meters along route # Maximum depth: 1570.213174 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.296036 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704186; longitude = -122.743335; captureRadius = 10; duration = 102; initialDepth = 1477.296036; finalDepth = 1528.356916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.958592 # Actual altitude: 100 # Commanded vehicle depth:1477.296036 # Seafloor depth:-1570.213174 # 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 3 # Segment length 109.560258 meters # Minimum depth: 1495.731624 meters looking forward 100.000000 meters along route # Maximum depth: 1516.334393 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1450.731624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703358; longitude = -122.743844; captureRadius = 10; duration = 109; initialDepth = 1450.731624; finalDepth = 1477.296036; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.917138 # Actual altitude: 92.917138 # Commanded vehicle depth:1450.731624 # Seafloor depth:-1516.334393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 371.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.17; MB_Bottom_Detect_Filter_Max_Range = 371.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.560484 meters # Minimum depth: 1477.037241 meters looking forward 100.000000 meters along route # Maximum depth: 1492.787621 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1432.037241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702475; longitude = -122.744386; captureRadius = 10; duration = 109; initialDepth = 1432.037241; finalDepth = 1450.731624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6027690000001 # Actual altitude: 65.6027690000001 # Commanded vehicle depth:1432.037241 # Seafloor depth:-1492.787621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 262.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.560711 meters # Minimum depth: 1488.249596 meters looking forward 100.000000 meters along route # Maximum depth: 1500.567757 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1443.249596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701592; longitude = -122.744929; captureRadius = 10; duration = 109; initialDepth = 1443.249596; finalDepth = 1432.037241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.75038 # Actual altitude: 60.75038 # Commanded vehicle depth:1443.249596 # Seafloor depth:-1488.249596 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.30; MB_Bottom_Detect_Filter_Max_Range = 243.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.560938 meters # Minimum depth: 1522.168185 meters looking forward 100.000000 meters along route # Maximum depth: 1562.563177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1477.168185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700709; longitude = -122.745472; captureRadius = 10; duration = 109; initialDepth = 1477.168185; finalDepth = 1443.249596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1477.168185 # Seafloor depth:-1522.168185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.561164 meters # Minimum depth: 1566.424770 meters looking forward 100.000000 meters along route # Maximum depth: 1613.722723 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1521.424770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699825; longitude = -122.746014; captureRadius = 10; duration = 109; initialDepth = 1521.424770; finalDepth = 1477.168185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1521.42477 # Seafloor depth:-1566.424770 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.561391 meters # Minimum depth: 1621.387988 meters looking forward 100.000000 meters along route # Maximum depth: 1645.412587 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.387988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698942; longitude = -122.746557; captureRadius = 10; duration = 109; initialDepth = 1576.387988; finalDepth = 1521.424770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1576.387988 # Seafloor depth:-1621.387988 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.561618 meters # Minimum depth: 1665.860616 meters looking forward 100.000000 meters along route # Maximum depth: 1673.848239 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1620.860616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698059; longitude = -122.747100; captureRadius = 10; duration = 109; initialDepth = 1620.860616; finalDepth = 1576.387988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1620.860616 # Seafloor depth:-1665.860616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 110.959002 meters # Minimum depth: 1648.074276 meters looking forward 100.000000 meters along route # Maximum depth: 1673.402425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.074276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697176; longitude = -122.747642; captureRadius = 10; duration = 110; initialDepth = 1603.074276; finalDepth = 1620.860616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.7248159999999 # Actual altitude: 68.7248159999999 # Commanded vehicle depth:1603.074276 # Seafloor depth:-1671.799092 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.49; MB_Bottom_Detect_Filter_Max_Range = 274.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 108.164913 meters # Minimum depth: 1618.369422 meters looking forward 100.000000 meters along route # Maximum depth: 1647.422177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.369422 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696282; longitude = -122.748192; captureRadius = 10; duration = 108; initialDepth = 1573.369422; finalDepth = 1603.074276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.0527549999999 # Actual altitude: 74.0527549999999 # Commanded vehicle depth:1573.369422 # Seafloor depth:-1647.422177 # 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 3 # Segment length 109.562298 meters # Minimum depth: 1579.267070 meters looking forward 100.000000 meters along route # Maximum depth: 1609.931278 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1534.267070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695410; longitude = -122.748727; captureRadius = 10; duration = 109; initialDepth = 1534.267070; finalDepth = 1573.369422; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6642079999999 # Actual altitude: 75.6642079999999 # Commanded vehicle depth:1534.26707 # Seafloor depth:-1609.931278 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.66; 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 = 302.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.562524 meters # Minimum depth: 1586.673150 meters looking forward 100.000000 meters along route # Maximum depth: 1587.543328 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.673150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694527; longitude = -122.749270; captureRadius = 10; duration = 109; initialDepth = 1541.673150; finalDepth = 1534.267070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6642079999999 # Actual altitude: 75.6642079999999 # Commanded vehicle depth:1541.67315 # Seafloor depth:-1586.673150 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.66; 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 = 302.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 118.456261 meters # Minimum depth: 1538.177866 meters looking forward 100.000000 meters along route # Maximum depth: 1560.606074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1493.177866 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693644; longitude = -122.749813; captureRadius = 10; duration = 118; initialDepth = 1493.177866; finalDepth = 1541.673150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.428208 # Actual altitude: 67.428208 # Commanded vehicle depth:1493.177866 # Seafloor depth:-1560.606074 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.71; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.97; MB_Bottom_Detect_Filter_Max_Range = 269.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 100.669468 meters # Minimum depth: 1499.264432 meters looking forward 100.000000 meters along route # Maximum depth: 1534.900747 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1454.264432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.692689; longitude = -122.750400; captureRadius = 10; duration = 100; initialDepth = 1454.264432; finalDepth = 1493.177866; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.636315 # Actual altitude: 80.636315 # Commanded vehicle depth:1454.264432 # Seafloor depth:-1534.900747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 322.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.563204 meters # Minimum depth: 1458.389083 meters looking forward 100.000000 meters along route # Maximum depth: 1493.891808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1413.389083 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.691877; longitude = -122.750898; captureRadius = 10; duration = 109; initialDepth = 1413.389083; finalDepth = 1454.264432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.636315 # Actual altitude: 80.636315 # Commanded vehicle depth:1413.389083 # Seafloor depth:-1493.891808 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.25; MB_Bottom_Detect_Filter_Max_Range = 322.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.563431 meters # Minimum depth: 1446.321510 meters looking forward 100.000000 meters along route # Maximum depth: 1457.136945 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1401.321510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690994; longitude = -122.751441; captureRadius = 10; duration = 109; initialDepth = 1401.321510; finalDepth = 1413.389083; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5027250000001 # Actual altitude: 80.5027250000001 # Commanded vehicle depth:1401.32151 # Seafloor depth:-1446.321510 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.20; MB_Bottom_Detect_Filter_Max_Range = 322.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.563658 meters # Minimum depth: 1481.420737 meters looking forward 100.000000 meters along route # Maximum depth: 1502.283539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.420737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690111; longitude = -122.751983; captureRadius = 10; duration = 109; initialDepth = 1436.420737; finalDepth = 1401.321510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1436.420737 # Seafloor depth:-1481.420737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.563884 meters # Minimum depth: 1509.051402 meters looking forward 100.000000 meters along route # Maximum depth: 1517.612368 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1464.051402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689228; longitude = -122.752526; captureRadius = 10; duration = 109; initialDepth = 1464.051402; finalDepth = 1436.420737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1464.051402 # Seafloor depth:-1509.051402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.564112 meters # Minimum depth: 1518.221645 meters looking forward 100.000000 meters along route # Maximum depth: 1538.282477 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1473.221645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688345; longitude = -122.753069; captureRadius = 10; duration = 109; initialDepth = 1473.221645; finalDepth = 1464.051402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1473.221645 # Seafloor depth:-1518.221645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.564338 meters # Minimum depth: 1547.184398 meters looking forward 100.000000 meters along route # Maximum depth: 1550.570515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.184398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687462; longitude = -122.753611; captureRadius = 10; duration = 109; initialDepth = 1502.184398; finalDepth = 1473.221645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1502.184398 # Seafloor depth:-1547.184398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.564564 meters # Minimum depth: 1550.490159 meters looking forward 100.000000 meters along route # Maximum depth: 1563.169012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.490159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686579; longitude = -122.754154; captureRadius = 10; duration = 109; initialDepth = 1505.490159; finalDepth = 1502.184398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1505.490159 # Seafloor depth:-1550.490159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 109.521909 meters # Minimum depth: 1565.062682 meters looking forward 100.000000 meters along route # Maximum depth: 1584.514748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1520.062682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685696; longitude = -122.754697; captureRadius = 10; duration = 109; initialDepth = 1520.062682; finalDepth = 1505.490159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1520.062682 # Seafloor depth:-1565.062682 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 42.927416 meters # Minimum depth: 1584.514748 meters looking forward 100.000000 meters along route # Maximum depth: 1596.946571 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.514748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684813; longitude = -122.755239; captureRadius = 10; duration = 42; initialDepth = 1539.514748; finalDepth = 1520.062682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.987114 # Actual altitude: 50 # Commanded vehicle depth:1539.514748 # Seafloor depth:-1586.501862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 127.072584 meters # Minimum depth: 1557.792457 meters looking forward 100.000000 meters along route # Maximum depth: 1571.158736 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.792457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684639; longitude = -122.754815; captureRadius = 10; duration = 127; initialDepth = 1512.792457; finalDepth = 1539.514748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3662790000001 # Actual altitude: 58.3662790000001 # Commanded vehicle depth:1512.792457 # Seafloor depth:-1571.158736 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 233.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 30.367105 meters # Minimum depth: 1557.792457 meters looking forward 100.000000 meters along route # Maximum depth: 1578.295829 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1512.792457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684126; longitude = -122.753560; captureRadius = 10; duration = 30; initialDepth = 1512.792457; finalDepth = 1512.792457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.3662790000001 # Actual altitude: 58.3662790000001 # Commanded vehicle depth:1512.792457 # Seafloor depth:-1568.636871 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.35; MB_Bottom_Detect_Filter_Max_Range = 233.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.565662 meters # Minimum depth: 1581.904356 meters looking forward 100.000000 meters along route # Maximum depth: 1613.791743 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1536.904356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684371; longitude = -122.753409; captureRadius = 10; duration = 109; initialDepth = 1536.904356; finalDepth = 1512.792457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8444139999999 # Actual altitude: 55.8444139999999 # Commanded vehicle depth:1536.904356 # Seafloor depth:-1581.904356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.34; MB_Bottom_Detect_Filter_Max_Range = 223.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.565436 meters # Minimum depth: 1632.334257 meters looking forward 100.000000 meters along route # Maximum depth: 1637.996458 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.334257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685254; longitude = -122.752866; captureRadius = 10; duration = 109; initialDepth = 1587.334257; finalDepth = 1536.904356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1587.334257 # Seafloor depth:-1632.334257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.565209 meters # Minimum depth: 1623.247290 meters looking forward 100.000000 meters along route # Maximum depth: 1630.594552 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1578.247290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686137; longitude = -122.752324; captureRadius = 10; duration = 109; initialDepth = 1578.247290; finalDepth = 1587.334257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.347262 # Actual altitude: 52.347262 # Commanded vehicle depth:1578.24729 # Seafloor depth:-1630.594552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.39; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.564983 meters # Minimum depth: 1610.694750 meters looking forward 100.000000 meters along route # Maximum depth: 1619.800920 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.694750 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687020; longitude = -122.751781; captureRadius = 10; duration = 109; initialDepth = 1565.694750; finalDepth = 1578.247290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0951819999998 # Actual altitude: 54.0951819999998 # Commanded vehicle depth:1565.69475 # Seafloor depth:-1619.789932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.564755 meters # Minimum depth: 1611.258012 meters looking forward 100.000000 meters along route # Maximum depth: 1612.472054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1566.258012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687903; longitude = -122.751238; captureRadius = 10; duration = 109; initialDepth = 1566.258012; finalDepth = 1565.694750; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0951819999998 # Actual altitude: 54.0951819999998 # Commanded vehicle depth:1566.258012 # Seafloor depth:-1612.246525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.64; MB_Bottom_Detect_Filter_Max_Range = 216.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.564529 meters # Minimum depth: 1586.131456 meters looking forward 100.000000 meters along route # Maximum depth: 1610.447132 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1541.131456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.688787; longitude = -122.750696; captureRadius = 10; duration = 109; initialDepth = 1541.131456; finalDepth = 1566.258012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3156759999999 # Actual altitude: 69.3156759999999 # Commanded vehicle depth:1541.131456 # Seafloor depth:-1610.447132 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.73; MB_Bottom_Detect_Filter_Max_Range = 277.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.564303 meters # Minimum depth: 1543.626250 meters looking forward 100.000000 meters along route # Maximum depth: 1568.026883 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.626250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.689670; longitude = -122.750153; captureRadius = 10; duration = 109; initialDepth = 1498.626250; finalDepth = 1541.131456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.400633 # Actual altitude: 69.400633 # Commanded vehicle depth:1498.62625 # Seafloor depth:-1568.026883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.76; MB_Bottom_Detect_Filter_Max_Range = 277.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 208.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.564075 meters # Minimum depth: 1489.333269 meters looking forward 100.000000 meters along route # Maximum depth: 1522.197000 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1444.333269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.690553; longitude = -122.749610; captureRadius = 10; duration = 109; initialDepth = 1444.333269; finalDepth = 1498.626250; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8637309999999 # Actual altitude: 77.8637309999999 # Commanded vehicle depth:1444.333269 # Seafloor depth:-1522.197000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 311.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.563849 meters # Minimum depth: 1484.816339 meters looking forward 100.000000 meters along route # Maximum depth: 1502.549833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1439.816339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.691436; longitude = -122.749068; captureRadius = 10; duration = 109; initialDepth = 1439.816339; finalDepth = 1444.333269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8637309999999 # Actual altitude: 77.8637309999999 # Commanded vehicle depth:1439.816339 # Seafloor depth:-1488.679373 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.15; MB_Bottom_Detect_Filter_Max_Range = 311.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.563623 meters # Minimum depth: 1513.638513 meters looking forward 100.000000 meters along route # Maximum depth: 1542.698155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1468.638513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.692319; longitude = -122.748525; captureRadius = 10; duration = 109; initialDepth = 1468.638513; finalDepth = 1439.816339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.863034 # Actual altitude: 50 # Commanded vehicle depth:1468.638513 # Seafloor depth:-1513.638513 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.563395 meters # Minimum depth: 1561.194066 meters looking forward 100.000000 meters along route # Maximum depth: 1576.348887 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1516.194066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.693202; longitude = -122.747982; captureRadius = 10; duration = 109; initialDepth = 1516.194066; finalDepth = 1468.638513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1516.194066 # Seafloor depth:-1561.194066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 115.598778 meters # Minimum depth: 1617.135399 meters looking forward 100.000000 meters along route # Maximum depth: 1652.118244 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.135399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.694085; longitude = -122.747440; captureRadius = 10; duration = 115; initialDepth = 1572.135399; finalDepth = 1516.194066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1572.135399 # Seafloor depth:-1617.135399 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 103.527333 meters # Minimum depth: 1653.980891 meters looking forward 100.000000 meters along route # Maximum depth: 1696.252992 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1608.980891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695017; longitude = -122.746867; captureRadius = 10; duration = 103; initialDepth = 1608.980891; finalDepth = 1572.135399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1608.980891 # Seafloor depth:-1653.980891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.562716 meters # Minimum depth: 1705.741965 meters looking forward 100.000000 meters along route # Maximum depth: 1737.241891 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1660.741965 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.695851; longitude = -122.746354; captureRadius = 10; duration = 109; initialDepth = 1660.741965; finalDepth = 1608.980891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1660.741965 # Seafloor depth:-1705.741965 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.562489 meters # Minimum depth: 1713.293539 meters looking forward 100.000000 meters along route # Maximum depth: 1735.119738 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.293539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.696735; longitude = -122.745812; captureRadius = 10; duration = 109; initialDepth = 1668.293539; finalDepth = 1660.741965; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8261990000001 # Actual altitude: 66.8261990000001 # Commanded vehicle depth:1668.293539 # Seafloor depth:-1735.119738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.73; MB_Bottom_Detect_Filter_Max_Range = 267.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.562262 meters # Minimum depth: 1652.446052 meters looking forward 100.000000 meters along route # Maximum depth: 1685.152001 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.446052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.697618; longitude = -122.745269; captureRadius = 10; duration = 109; initialDepth = 1607.446052; finalDepth = 1668.293539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.7059489999999 # Actual altitude: 77.7059489999999 # Commanded vehicle depth:1607.446052 # Seafloor depth:-1685.152001 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 310.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.08; MB_Bottom_Detect_Filter_Max_Range = 310.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.562036 meters # Minimum depth: 1563.109348 meters looking forward 100.000000 meters along route # Maximum depth: 1629.860155 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1518.109348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.698501; longitude = -122.744726; captureRadius = 10; duration = 109; initialDepth = 1518.109348; finalDepth = 1607.446052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.750807 # Actual altitude: 100 # Commanded vehicle depth:1518.109348 # Seafloor depth:-1629.860155 # 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 109.561808 meters # Minimum depth: 1515.914719 meters looking forward 100.000000 meters along route # Maximum depth: 1558.019508 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.914719 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.699384; longitude = -122.744184; captureRadius = 10; duration = 109; initialDepth = 1470.914719; finalDepth = 1518.109348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 111.750807 # Actual altitude: 100 # Commanded vehicle depth:1470.914719 # Seafloor depth:-1558.019508 # 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 109.561583 meters # Minimum depth: 1474.089799 meters looking forward 100.000000 meters along route # Maximum depth: 1501.798054 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1429.089799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.700267; longitude = -122.743641; captureRadius = 10; duration = 109; initialDepth = 1429.089799; finalDepth = 1470.914719; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 87.104789 # Actual altitude: 87.104789 # Commanded vehicle depth:1429.089799 # Seafloor depth:-1501.798054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 348.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.84; MB_Bottom_Detect_Filter_Max_Range = 348.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 261.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.561355 meters # Minimum depth: 1492.631879 meters looking forward 100.000000 meters along route # Maximum depth: 1527.639679 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1447.631879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.701150; longitude = -122.743098; captureRadius = 10; duration = 109; initialDepth = 1447.631879; finalDepth = 1429.089799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.708255 # Actual altitude: 72.708255 # Commanded vehicle depth:1447.631879 # Seafloor depth:-1492.631879 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.08; MB_Bottom_Detect_Filter_Max_Range = 290.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 110.142834 meters # Minimum depth: 1552.490086 meters looking forward 100.000000 meters along route # Maximum depth: 1610.293091 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1507.490086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702033; longitude = -122.742556; captureRadius = 10; duration = 110; initialDepth = 1507.490086; finalDepth = 1447.631879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1507.490086 # Seafloor depth:-1552.490086 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.979198 meters # Minimum depth: 1610.472899 meters looking forward 100.000000 meters along route # Maximum depth: 1638.356870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.472899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.702921; longitude = -122.742010; captureRadius = 10; duration = 108; initialDepth = 1565.472899; finalDepth = 1507.490086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1565.472899 # Seafloor depth:-1610.472899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.560675 meters # Minimum depth: 1643.183452 meters looking forward 100.000000 meters along route # Maximum depth: 1659.697737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.183452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.703799; longitude = -122.741470; captureRadius = 10; duration = 109; initialDepth = 1598.183452; finalDepth = 1565.472899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1598.183452 # Seafloor depth:-1643.183452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.560449 meters # Minimum depth: 1659.133785 meters looking forward 100.000000 meters along route # Maximum depth: 1664.171564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1614.133785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.704683; longitude = -122.740927; captureRadius = 10; duration = 109; initialDepth = 1614.133785; finalDepth = 1598.183452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1614.133785 # Seafloor depth:-1659.133785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 117.622956 meters # Minimum depth: 1640.297091 meters looking forward 100.000000 meters along route # Maximum depth: 1643.165040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.297091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.705566; longitude = -122.740385; captureRadius = 10; duration = 117; initialDepth = 1595.297091; finalDepth = 1614.133785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2317850000002 # Actual altitude: 50 # Commanded vehicle depth:1595.297091 # Seafloor depth:-1641.528876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.497263 meters # Minimum depth: 1621.198676 meters looking forward 100.000000 meters along route # Maximum depth: 1640.287386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1576.198676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.706514; longitude = -122.739802; captureRadius = 10; duration = 101; initialDepth = 1576.198676; finalDepth = 1595.297091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.08871 # Actual altitude: 64.08871 # Commanded vehicle depth:1576.198676 # Seafloor depth:-1640.287386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 256.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.559769 meters # Minimum depth: 1600.905572 meters looking forward 100.000000 meters along route # Maximum depth: 1616.718440 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.905572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.707332; longitude = -122.739299; captureRadius = 10; duration = 109; initialDepth = 1555.905572; finalDepth = 1576.198676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.08871 # Actual altitude: 64.08871 # Commanded vehicle depth:1555.905572 # Seafloor depth:-1616.718440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 256.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.559542 meters # Minimum depth: 1613.993162 meters looking forward 100.000000 meters along route # Maximum depth: 1620.847818 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.993162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.708215; longitude = -122.738757; captureRadius = 10; duration = 109; initialDepth = 1568.993162; finalDepth = 1555.905572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.8128680000002 # Actual altitude: 60.8128680000002 # Commanded vehicle depth:1568.993162 # Seafloor depth:-1613.993162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.33; MB_Bottom_Detect_Filter_Max_Range = 243.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.559316 meters # Minimum depth: 1629.821233 meters looking forward 100.000000 meters along route # Maximum depth: 1636.487541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.821233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709098; longitude = -122.738214; captureRadius = 10; duration = 109; initialDepth = 1584.821233; finalDepth = 1568.993162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1584.821233 # Seafloor depth:-1629.821233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.559090 meters # Minimum depth: 1646.086222 meters looking forward 100.000000 meters along route # Maximum depth: 1663.662075 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1601.086222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.709981; longitude = -122.737671; captureRadius = 10; duration = 109; initialDepth = 1601.086222; finalDepth = 1584.821233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1601.086222 # Seafloor depth:-1646.086222 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.558862 meters # Minimum depth: 1664.990565 meters looking forward 100.000000 meters along route # Maximum depth: 1680.037307 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1619.990565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.710864; longitude = -122.737129; captureRadius = 10; duration = 109; initialDepth = 1619.990565; finalDepth = 1601.086222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1619.990565 # Seafloor depth:-1664.990565 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.558636 meters # Minimum depth: 1686.778199 meters looking forward 100.000000 meters along route # Maximum depth: 1708.383872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1641.778199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.711747; longitude = -122.736586; captureRadius = 10; duration = 109; initialDepth = 1641.778199; finalDepth = 1619.990565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1641.778199 # Seafloor depth:-1686.778199 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.558410 meters # Minimum depth: 1723.026564 meters looking forward 100.000000 meters along route # Maximum depth: 1736.444577 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1678.026564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.712631; longitude = -122.736043; captureRadius = 10; duration = 109; initialDepth = 1678.026564; finalDepth = 1641.778199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1678.026564 # Seafloor depth:-1723.026564 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 112.167121 meters # Minimum depth: 1744.532931 meters looking forward 100.000000 meters along route # Maximum depth: 1752.151030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.532931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.713514; longitude = -122.735501; captureRadius = 10; duration = 112; initialDepth = 1699.532931; finalDepth = 1678.026564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1699.532931 # Seafloor depth:-1744.532931 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 106.949018 meters # Minimum depth: 1752.448257 meters looking forward 100.000000 meters along route # Maximum depth: 1754.802202 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1707.448257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.714418; longitude = -122.734945; captureRadius = 10; duration = 106; initialDepth = 1707.448257; finalDepth = 1699.532931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1707.448257 # Seafloor depth:-1752.448257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.557730 meters # Minimum depth: 1749.694654 meters looking forward 100.000000 meters along route # Maximum depth: 1753.399892 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1704.694654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.715280; longitude = -122.734415; captureRadius = 10; duration = 109; initialDepth = 1704.694654; finalDepth = 1707.448257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.705238 # Actual altitude: 50 # Commanded vehicle depth:1704.694654 # Seafloor depth:-1753.399892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.557503 meters # Minimum depth: 1740.209345 meters looking forward 100.000000 meters along route # Maximum depth: 1746.627805 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1695.209345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.716163; longitude = -122.733873; captureRadius = 10; duration = 109; initialDepth = 1695.209345; finalDepth = 1704.694654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4184600000001 # Actual altitude: 51.4184600000001 # Commanded vehicle depth:1695.209345 # Seafloor depth:-1746.627805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.67; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.557276 meters # Minimum depth: 1719.026133 meters looking forward 100.000000 meters along route # Maximum depth: 1730.526188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1674.026133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717046; longitude = -122.733330; captureRadius = 10; duration = 109; initialDepth = 1674.026133; finalDepth = 1695.209345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.500055 # Actual altitude: 56.500055 # Commanded vehicle depth:1674.026133 # Seafloor depth:-1730.526188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 226.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.557050 meters # Minimum depth: 1708.972369 meters looking forward 100.000000 meters along route # Maximum depth: 1719.165281 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1663.972369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.717929; longitude = -122.732787; captureRadius = 10; duration = 109; initialDepth = 1663.972369; finalDepth = 1674.026133; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.500055 # Actual altitude: 56.500055 # Commanded vehicle depth:1663.972369 # Seafloor depth:-1719.165281 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 226.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 109.556824 meters # Minimum depth: 1694.649776 meters looking forward 100.000000 meters along route # Maximum depth: 1707.880431 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1649.649776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.718812; longitude = -122.732245; captureRadius = 10; duration = 109; initialDepth = 1649.649776; finalDepth = 1663.972369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.2306550000001 # Actual altitude: 58.2306550000001 # Commanded vehicle depth:1649.649776 # Seafloor depth:-1707.880431 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.29; MB_Bottom_Detect_Filter_Max_Range = 232.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 133.873389 meters # Minimum depth: 1663.723540 meters looking forward 100.000000 meters along route # Maximum depth: 1688.829678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1618.723540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.719695; longitude = -122.731702; captureRadius = 10; duration = 133; initialDepth = 1618.723540; finalDepth = 1649.649776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.1061380000001 # Actual altitude: 70.1061380000001 # Commanded vehicle depth:1618.72354 # Seafloor depth:-1688.829678 # behavior reson { duration = 6; SBP_Power = 100.0; 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 = 210.32; 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: 70.1061380000001 # Actual altitude: 70.1061380000001 # Commanded vehicle depth:1611.819092 # Seafloor depth:-1656.819092 # 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 = 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 = 210.32; 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: 1656.819092 meters looking forward 100.000000 meters along route # Maximum depth: 1678.342959 meters looking forward 100.000000 meters along route # Vehicle depth: 1611.819092 meters behavior waypoint { latitude = 35.720775; longitude = -122.731039; captureRadius = 10; duration = 500; depth = 1611.819092; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1611.819092 meters set by local depth and desired altitude behavior descend { duration = 8644; horizontalMode = rudder; horizontal = 3.000000; pitch = -30.000000; speed = 1.500000; minAltitude = 50.000000; } # # Waypoint behavior to get to start of line 1 # Segment length 500.000000 meters # Minimum depth: 1656.819092 meters looking forward 100.000000 meters along route # Maximum depth: 1678.342959 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.720775; longitude = -122.731039; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 110.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 110.0; 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 = 180.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.00; MB_Bottom_Detect_Filter_Max_Range = 180.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 135.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################