# 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: DavidsonSurvey06_50m.rte # Mission File: DavidsonSurvey06_50m.cfg # Distance: 33030.814421 (m) # Estimated Time: 29644 (s) 8.235 (hr) # Abort Time: 23400 (s) # Max battery life: 30600 (s) # Safety margin: 3600 (s) # Ascend time: 6948 (s) # Way Points: 16 # Route Points: 300 # 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 -122.753343 35.684077 -1587.536621 0.000000 3 # 1 -122.789379 35.655711 -2178.413696 4531.438836 4 # 2 -122.790684 35.656813 -2245.364136 4701.414374 3 # 3 -122.755212 35.684778 -1583.640869 9165.214654 4 # 4 -122.756729 35.685548 -1618.484009 9326.878221 3 # 5 -122.791989 35.657915 -2256.994385 13751.288095 4 # 6 -122.793294 35.659017 -2303.437622 13921.261391 3 # 7 -122.758200 35.686284 -1577.919434 18306.732181 4 # 8 -122.759967 35.687167 -1552.966370 18494.225521 3 # 9 -122.794600 35.660119 -2290.360229 22832.719463 4 # 10 -122.795905 35.661222 -2312.691528 23002.770285 3 # 11 -122.762027 35.687756 -1609.366211 27252.467183 4 # 12 -122.764824 35.687167 -1713.118378 27513.841579 3 # 13 -122.763941 35.673479 -1672.150177 29034.069736 4 # 14 -122.782928 35.658908 -1974.945557 31393.028531 3 # 15 -122.781456 35.673626 -2084.576416 33030.814421 4 # # A total of 300 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 23400; } # # 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 = 6948; 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 15 # Segment length 32.711816 meters # Minimum depth: 2084.576416 meters looking forward 100.000000 meters along route # Maximum depth: 2084.576416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.576416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673626; longitude = -122.781456; captureRadius = 10; duration = 32; initialDepth = 2039.576416; finalDepth = 2039.576416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2039.576416 # Seafloor depth:-2084.576416 # 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 147.406405 meters # Minimum depth: 2053.597240 meters looking forward 100.000000 meters along route # Maximum depth: 2081.021416 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.597240 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673332; longitude = -122.781485; captureRadius = 10; duration = 147; initialDepth = 2008.597240; finalDepth = 2039.576416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.424176 # Actual altitude: 72.424176 # Commanded vehicle depth:2008.59724 # Seafloor depth:-2081.021416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.97; MB_Bottom_Detect_Filter_Max_Range = 289.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 147.406389 meters # Minimum depth: 1935.283336 meters looking forward 100.000000 meters along route # Maximum depth: 2037.278809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1890.283336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672007; longitude = -122.781618; captureRadius = 10; duration = 147; initialDepth = 1890.283336; finalDepth = 2008.597240; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 146.995473 # Actual altitude: 100 # Commanded vehicle depth:1890.283336 # Seafloor depth:-2037.278809 # 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 15 # Segment length 147.406372 meters # Minimum depth: 1904.993381 meters looking forward 100.000000 meters along route # Maximum depth: 1934.823452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1859.993381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670683; longitude = -122.781750; captureRadius = 10; duration = 147; initialDepth = 1859.993381; finalDepth = 1890.283336; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 146.995473 # Actual altitude: 100 # Commanded vehicle depth:1859.993381 # Seafloor depth:-1934.823452 # 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 15 # Segment length 147.406355 meters # Minimum depth: 1891.019432 meters looking forward 100.000000 meters along route # Maximum depth: 1896.791752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1846.019432 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669358; longitude = -122.781883; captureRadius = 10; duration = 147; initialDepth = 1846.019432; finalDepth = 1859.993381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.8300710000001 # Actual altitude: 74.8300710000001 # Commanded vehicle depth:1846.019432 # Seafloor depth:-1895.204211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.93; MB_Bottom_Detect_Filter_Max_Range = 299.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 147.406337 meters # Minimum depth: 1903.134908 meters looking forward 100.000000 meters along route # Maximum depth: 1925.342744 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1858.134908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668033; longitude = -122.782015; captureRadius = 10; duration = 147; initialDepth = 1858.134908; finalDepth = 1846.019432; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1847789999999 # Actual altitude: 50 # Commanded vehicle depth:1858.134908 # Seafloor depth:-1903.134908 # 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 147.406321 meters # Minimum depth: 1936.896466 meters looking forward 100.000000 meters along route # Maximum depth: 1956.659013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1891.896466 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666709; longitude = -122.782148; captureRadius = 10; duration = 147; initialDepth = 1891.896466; finalDepth = 1858.134908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1891.896466 # Seafloor depth:-1936.896466 # 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 147.406304 meters # Minimum depth: 1950.002827 meters looking forward 100.000000 meters along route # Maximum depth: 1967.499833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1905.002827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665384; longitude = -122.782280; captureRadius = 10; duration = 147; initialDepth = 1905.002827; finalDepth = 1891.896466; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1905.002827 # Seafloor depth:-1950.002827 # 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 147.406286 meters # Minimum depth: 1962.707529 meters looking forward 100.000000 meters along route # Maximum depth: 1965.723509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.707529 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664059; longitude = -122.782413; captureRadius = 10; duration = 147; initialDepth = 1917.707529; finalDepth = 1905.002827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1917.707529 # Seafloor depth:-1962.707529 # 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 147.406270 meters # Minimum depth: 1951.038015 meters looking forward 100.000000 meters along route # Maximum depth: 1961.902614 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.038015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662735; longitude = -122.782545; captureRadius = 10; duration = 147; initialDepth = 1906.038015; finalDepth = 1917.707529; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.864599 # Actual altitude: 55.864599 # Commanded vehicle depth:1906.038015 # Seafloor depth:-1961.902614 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 147.406253 meters # Minimum depth: 1942.763939 meters looking forward 100.000000 meters along route # Maximum depth: 1956.703275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1897.763939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661410; longitude = -122.782678; captureRadius = 10; duration = 147; initialDepth = 1897.763939; finalDepth = 1906.038015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.864599 # Actual altitude: 55.864599 # Commanded vehicle depth:1897.763939 # Seafloor depth:-1942.763939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.46; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 131.010782 meters # Minimum depth: 1953.693230 meters looking forward 100.000000 meters along route # Maximum depth: 1966.363452 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.693230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660085; longitude = -122.782810; captureRadius = 10; duration = 131; initialDepth = 1908.693230; finalDepth = 1897.763939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1908.69323 # Seafloor depth:-1953.693230 # 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 14 # Segment length 36.629964 meters # Minimum depth: 1966.363452 meters looking forward 100.000000 meters along route # Maximum depth: 1974.945557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1921.363452 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658908; longitude = -122.782928; captureRadius = 10; duration = 36; initialDepth = 1921.363452; finalDepth = 1908.693230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.582105 # Actual altitude: 53.582105 # Commanded vehicle depth:1921.363452 # Seafloor depth:-1974.945557 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.723448 meters # Minimum depth: 1961.040312 meters looking forward 100.000000 meters along route # Maximum depth: 1966.036956 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.040312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659134; longitude = -122.782633; captureRadius = 10; duration = 109; initialDepth = 1916.040312; finalDepth = 1921.363452; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.582105 # Actual altitude: 53.582105 # Commanded vehicle depth:1916.040312 # Seafloor depth:-1966.036956 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 115.746120 meters # Minimum depth: 1962.572343 meters looking forward 100.000000 meters along route # Maximum depth: 1988.578325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.572343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659812; longitude = -122.781750; captureRadius = 10; duration = 115; initialDepth = 1917.572343; finalDepth = 1916.040312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9966439999998 # Actual altitude: 50 # Commanded vehicle depth:1917.572343 # Seafloor depth:-1962.572343 # 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 103.699330 meters # Minimum depth: 1990.800028 meters looking forward 100.000000 meters along route # Maximum depth: 2007.799327 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.800028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660527; longitude = -122.780818; captureRadius = 10; duration = 103; initialDepth = 1945.800028; finalDepth = 1917.572343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1945.800028 # Seafloor depth:-1990.800028 # 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 110.763913 meters # Minimum depth: 1983.616370 meters looking forward 100.000000 meters along route # Maximum depth: 2005.079872 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1938.616370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661167; longitude = -122.779984; captureRadius = 10; duration = 110; initialDepth = 1938.616370; finalDepth = 1945.800028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9633410000001 # Actual altitude: 62.9633410000001 # Commanded vehicle depth:1938.61637 # Seafloor depth:-2001.579711 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 108.679610 meters # Minimum depth: 2005.900690 meters looking forward 100.000000 meters along route # Maximum depth: 2060.525429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1960.900690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661852; longitude = -122.779092; captureRadius = 10; duration = 108; initialDepth = 1960.900690; finalDepth = 1938.616370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.9633410000001 # Actual altitude: 62.9633410000001 # Commanded vehicle depth:1960.90069 # Seafloor depth:-2005.900690 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.19; MB_Bottom_Detect_Filter_Max_Range = 251.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.721039 meters # Minimum depth: 2069.069420 meters looking forward 100.000000 meters along route # Maximum depth: 2098.563973 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2024.069420 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662523; longitude = -122.778218; captureRadius = 10; duration = 109; initialDepth = 2024.069420; finalDepth = 1960.900690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2024.06942 # Seafloor depth:-2069.069420 # 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 109.720556 meters # Minimum depth: 2100.216582 meters looking forward 100.000000 meters along route # Maximum depth: 2142.586138 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2055.216582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663201; longitude = -122.777335; captureRadius = 10; duration = 109; initialDepth = 2055.216582; finalDepth = 2024.069420; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2055.216582 # Seafloor depth:-2100.216582 # 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 109.720075 meters # Minimum depth: 2167.599407 meters looking forward 100.000000 meters along route # Maximum depth: 2194.926501 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2122.599407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663878; longitude = -122.776451; captureRadius = 10; duration = 109; initialDepth = 2122.599407; finalDepth = 2055.216582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2122.599407 # Seafloor depth:-2167.599407 # 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 109.719593 meters # Minimum depth: 2196.078369 meters looking forward 100.000000 meters along route # Maximum depth: 2196.979798 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2151.078369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664556; longitude = -122.775568; captureRadius = 10; duration = 109; initialDepth = 2151.078369; finalDepth = 2122.599407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2151.078369 # Seafloor depth:-2196.078369 # 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 109.719111 meters # Minimum depth: 2188.861045 meters looking forward 100.000000 meters along route # Maximum depth: 2195.287751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2143.861045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665234; longitude = -122.774685; captureRadius = 10; duration = 109; initialDepth = 2143.861045; finalDepth = 2151.078369; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4267059999997 # Actual altitude: 51.4267059999997 # Commanded vehicle depth:2143.861045 # Seafloor depth:-2195.287751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.71; 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 = 205.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.718629 meters # Minimum depth: 2180.730582 meters looking forward 100.000000 meters along route # Maximum depth: 2187.369329 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2135.730582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665911; longitude = -122.773802; captureRadius = 10; duration = 109; initialDepth = 2135.730582; finalDepth = 2143.861045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.638747 # Actual altitude: 51.638747 # Commanded vehicle depth:2135.730582 # Seafloor depth:-2187.369329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.718147 meters # Minimum depth: 2149.955354 meters looking forward 100.000000 meters along route # Maximum depth: 2174.178275 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2104.955354 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666589; longitude = -122.772919; captureRadius = 10; duration = 109; initialDepth = 2104.955354; finalDepth = 2135.730582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.222921 # Actual altitude: 69.222921 # Commanded vehicle depth:2104.955354 # Seafloor depth:-2174.178275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 276.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.717665 meters # Minimum depth: 2137.342067 meters looking forward 100.000000 meters along route # Maximum depth: 2144.895308 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2092.342067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667267; longitude = -122.772036; captureRadius = 10; duration = 109; initialDepth = 2092.342067; finalDepth = 2104.955354; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.222921 # Actual altitude: 69.222921 # Commanded vehicle depth:2092.342067 # Seafloor depth:-2144.895308 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 276.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.717184 meters # Minimum depth: 2089.464131 meters looking forward 100.000000 meters along route # Maximum depth: 2113.772917 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2044.464131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667945; longitude = -122.771153; captureRadius = 10; duration = 109; initialDepth = 2044.464131; finalDepth = 2092.342067; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.3087859999996 # Actual altitude: 69.3087859999996 # Commanded vehicle depth:2044.464131 # Seafloor depth:-2113.772917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 277.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.72; MB_Bottom_Detect_Filter_Max_Range = 277.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 119.105324 meters # Minimum depth: 2047.780213 meters looking forward 100.000000 meters along route # Maximum depth: 2083.238028 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2002.780213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668622; longitude = -122.770270; captureRadius = 10; duration = 119; initialDepth = 2002.780213; finalDepth = 2044.464131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4578150000002 # Actual altitude: 80.4578150000002 # Commanded vehicle depth:2002.780213 # Seafloor depth:-2083.238028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 321.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 100.327598 meters # Minimum depth: 2008.560066 meters looking forward 100.000000 meters along route # Maximum depth: 2043.400726 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1963.560066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669358; longitude = -122.769311; captureRadius = 10; duration = 100; initialDepth = 1963.560066; finalDepth = 2002.780213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.4578150000002 # Actual altitude: 80.4578150000002 # Commanded vehicle depth:1963.560066 # Seafloor depth:-2043.400726 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 321.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.18; MB_Bottom_Detect_Filter_Max_Range = 321.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 114.123371 meters # Minimum depth: 1947.152049 meters looking forward 100.000000 meters along route # Maximum depth: 1999.004333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1902.152049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669978; longitude = -122.768503; captureRadius = 10; duration = 114; initialDepth = 1902.152049; finalDepth = 1963.560066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.8522840000001 # Actual altitude: 96.8522840000001 # Commanded vehicle depth:1902.152049 # Seafloor depth:-1999.004333 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 387.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 387.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 105.307623 meters # Minimum depth: 1911.599923 meters looking forward 100.000000 meters along route # Maximum depth: 1945.877752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1866.599923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670683; longitude = -122.767585; captureRadius = 10; duration = 105; initialDepth = 1866.599923; finalDepth = 1902.152049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.8522840000001 # Actual altitude: 96.8522840000001 # Commanded vehicle depth:1866.599923 # Seafloor depth:-1945.877752 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 387.41; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.74; MB_Bottom_Detect_Filter_Max_Range = 387.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 109.714775 meters # Minimum depth: 1827.323838 meters looking forward 100.000000 meters along route # Maximum depth: 1890.702540 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1782.323838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671333; longitude = -122.766737; captureRadius = 10; duration = 109; initialDepth = 1782.323838; finalDepth = 1866.599923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.378702 # Actual altitude: 100 # Commanded vehicle depth:1782.323838 # Seafloor depth:-1890.702540 # 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 109.714293 meters # Minimum depth: 1773.941966 meters looking forward 100.000000 meters along route # Maximum depth: 1826.864133 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1728.941966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672011; longitude = -122.765854; captureRadius = 10; duration = 109; initialDepth = 1728.941966; finalDepth = 1782.323838; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.378702 # Actual altitude: 100 # Commanded vehicle depth:1728.941966 # Seafloor depth:-1826.864133 # 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 127.951427 meters # Minimum depth: 1693.325774 meters looking forward 100.000000 meters along route # Maximum depth: 1750.626361 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1648.325774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672689; longitude = -122.764971; captureRadius = 10; duration = 127; initialDepth = 1648.325774; finalDepth = 1728.941966; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.300587 # Actual altitude: 100 # Commanded vehicle depth:1648.325774 # Seafloor depth:-1750.626361 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 130.799154 meters # Minimum depth: 1640.079592 meters looking forward 100.000000 meters along route # Maximum depth: 1672.150177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.079592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673479; longitude = -122.763941; captureRadius = 10; duration = 130; initialDepth = 1595.079592; finalDepth = 1648.325774; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.300587 # Actual altitude: 100 # Commanded vehicle depth:1595.079592 # Seafloor depth:-1672.150177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 121.939786 meters # Minimum depth: 1606.322038 meters looking forward 100.000000 meters along route # Maximum depth: 1621.477987 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1561.322038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674657; longitude = -122.764017; captureRadius = 10; duration = 121; initialDepth = 1561.322038; finalDepth = 1595.079592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.0705849999999 # Actual altitude: 77.0705849999999 # Commanded vehicle depth:1561.322038 # Seafloor depth:-1621.477987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.83; MB_Bottom_Detect_Filter_Max_Range = 308.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 123.262808 meters # Minimum depth: 1609.005555 meters looking forward 100.000000 meters along route # Maximum depth: 1624.546364 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.005555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675755; longitude = -122.764088; captureRadius = 10; duration = 123; initialDepth = 1564.005555; finalDepth = 1561.322038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.155949 # Actual altitude: 60.155949 # Commanded vehicle depth:1564.005555 # Seafloor depth:-1609.005555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.62; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 240.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 147.121589 meters # Minimum depth: 1616.138168 meters looking forward 100.000000 meters along route # Maximum depth: 1639.725340 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1571.138168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676864; longitude = -122.764159; captureRadius = 10; duration = 147; initialDepth = 1571.138168; finalDepth = 1564.005555; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.5581030000001 # Actual altitude: 67.5581030000001 # Commanded vehicle depth:1571.138168 # Seafloor depth:-1638.696271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.02; MB_Bottom_Detect_Filter_Max_Range = 270.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 147.121614 meters # Minimum depth: 1547.598450 meters looking forward 100.000000 meters along route # Maximum depth: 1594.232855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.598450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678189; longitude = -122.764245; captureRadius = 10; duration = 147; initialDepth = 1502.598450; finalDepth = 1571.138168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.634405 # Actual altitude: 91.634405 # Commanded vehicle depth:1502.59845 # Seafloor depth:-1594.232855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 366.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.65; MB_Bottom_Detect_Filter_Max_Range = 366.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 147.121639 meters # Minimum depth: 1515.333448 meters looking forward 100.000000 meters along route # Maximum depth: 1527.837034 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1470.333448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679514; longitude = -122.764330; captureRadius = 10; duration = 147; initialDepth = 1470.333448; finalDepth = 1502.598450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.634405 # Actual altitude: 91.634405 # Commanded vehicle depth:1470.333448 # Seafloor depth:-1527.837034 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 366.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.65; MB_Bottom_Detect_Filter_Max_Range = 366.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 147.121665 meters # Minimum depth: 1540.537459 meters looking forward 100.000000 meters along route # Maximum depth: 1569.728250 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1495.537459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680838; longitude = -122.764416; captureRadius = 10; duration = 147; initialDepth = 1495.537459; finalDepth = 1470.333448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.5035859999998 # Actual altitude: 57.5035859999998 # Commanded vehicle depth:1495.537459 # Seafloor depth:-1540.537459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.00; MB_Bottom_Detect_Filter_Max_Range = 230.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 147.121689 meters # Minimum depth: 1585.091153 meters looking forward 100.000000 meters along route # Maximum depth: 1615.010053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1540.091153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682163; longitude = -122.764501; captureRadius = 10; duration = 147; initialDepth = 1540.091153; finalDepth = 1495.537459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1540.091153 # Seafloor depth:-1585.091153 # 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 147.121714 meters # Minimum depth: 1619.728729 meters looking forward 100.000000 meters along route # Maximum depth: 1657.692689 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.728729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683488; longitude = -122.764587; captureRadius = 10; duration = 147; initialDepth = 1574.728729; finalDepth = 1540.091153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1574.728729 # Seafloor depth:-1619.728729 # 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 147.121739 meters # Minimum depth: 1671.389342 meters looking forward 100.000000 meters along route # Maximum depth: 1718.016674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1626.389342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684813; longitude = -122.764672; captureRadius = 10; duration = 147; initialDepth = 1626.389342; finalDepth = 1574.728729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1626.389342 # Seafloor depth:-1671.389342 # 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 114.374760 meters # Minimum depth: 1717.796376 meters looking forward 100.000000 meters along route # Maximum depth: 1721.219857 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1672.796376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686137; longitude = -122.764758; captureRadius = 10; duration = 114; initialDepth = 1672.796376; finalDepth = 1626.389342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.423481 # Actual altitude: 50 # Commanded vehicle depth:1672.796376 # Seafloor depth:-1721.219857 # 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 27.533993 meters # Minimum depth: 1713.118378 meters looking forward 100.000000 meters along route # Maximum depth: 1717.958420 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1668.118378 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687167; longitude = -122.764824; captureRadius = 10; duration = 27; initialDepth = 1668.118378; finalDepth = 1672.796376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.423481 # Actual altitude: 50 # Commanded vehicle depth:1668.118378 # Seafloor depth:-1713.118378 # 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 123.788080 meters # Minimum depth: 1648.168828 meters looking forward 100.000000 meters along route # Maximum depth: 1702.888865 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1603.168828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687229; longitude = -122.764529; captureRadius = 10; duration = 123; initialDepth = 1603.168828; finalDepth = 1668.118378; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.7200369999998 # Actual altitude: 99.7200369999998 # Commanded vehicle depth:1603.168828 # Seafloor depth:-1702.888865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 398.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 398.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 110.052323 meters # Minimum depth: 1617.065939 meters looking forward 100.000000 meters along route # Maximum depth: 1632.845722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1572.065939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687508; longitude = -122.763205; captureRadius = 10; duration = 110; initialDepth = 1572.065939; finalDepth = 1603.168828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.7200369999998 # Actual altitude: 99.7200369999998 # Commanded vehicle depth:1572.065939 # Seafloor depth:-1632.845722 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 398.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 398.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 47.107124 meters # Minimum depth: 1609.366211 meters looking forward 100.000000 meters along route # Maximum depth: 1618.100734 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.366211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687756; longitude = -122.762027; captureRadius = 10; duration = 47; initialDepth = 1564.366211; finalDepth = 1572.065939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.779783 # Actual altitude: 60.779783 # Commanded vehicle depth:1564.366211 # Seafloor depth:-1609.366211 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.31; MB_Bottom_Detect_Filter_Max_Range = 243.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.611188 meters # Minimum depth: 1620.491391 meters looking forward 100.000000 meters along route # Maximum depth: 1645.621454 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1575.491391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687462; longitude = -122.762403; captureRadius = 10; duration = 100; initialDepth = 1575.491391; finalDepth = 1564.366211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1575.491391 # Seafloor depth:-1620.491391 # 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 111.531976 meters # Minimum depth: 1655.336179 meters looking forward 100.000000 meters along route # Maximum depth: 1706.751065 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1610.336179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686834; longitude = -122.763205; captureRadius = 10; duration = 111; initialDepth = 1610.336179; finalDepth = 1575.491391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1610.336179 # Seafloor depth:-1655.336179 # 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 110.009250 meters # Minimum depth: 1707.338799 meters looking forward 100.000000 meters along route # Maximum depth: 1716.291509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1662.338799 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686137; longitude = -122.764094; captureRadius = 10; duration = 110; initialDepth = 1662.338799; finalDepth = 1610.336179; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1662.338799 # Seafloor depth:-1707.338799 # 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 110.771343 meters # Minimum depth: 1702.170160 meters looking forward 100.000000 meters along route # Maximum depth: 1715.717243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1657.170160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685450; longitude = -122.764971; captureRadius = 10; duration = 110; initialDepth = 1657.170160; finalDepth = 1662.338799; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5470830000002 # Actual altitude: 58.5470830000002 # Commanded vehicle depth:1657.17016 # Seafloor depth:-1715.717243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.771830 meters # Minimum depth: 1711.182057 meters looking forward 100.000000 meters along route # Maximum depth: 1723.684401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1666.182057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684759; longitude = -122.765854; captureRadius = 10; duration = 110; initialDepth = 1666.182057; finalDepth = 1657.170160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.5470830000002 # Actual altitude: 58.5470830000002 # Commanded vehicle depth:1666.182057 # Seafloor depth:-1711.182057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.42; MB_Bottom_Detect_Filter_Max_Range = 234.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.772317 meters # Minimum depth: 1737.766496 meters looking forward 100.000000 meters along route # Maximum depth: 1761.991199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1692.766496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684067; longitude = -122.766737; captureRadius = 10; duration = 110; initialDepth = 1692.766496; finalDepth = 1666.182057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1692.766496 # Seafloor depth:-1737.766496 # 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 110.772803 meters # Minimum depth: 1766.433978 meters looking forward 100.000000 meters along route # Maximum depth: 1779.972241 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1721.433978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683375; longitude = -122.767620; captureRadius = 10; duration = 110; initialDepth = 1721.433978; finalDepth = 1692.766496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1721.433978 # Seafloor depth:-1766.433978 # 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 110.773290 meters # Minimum depth: 1791.551743 meters looking forward 100.000000 meters along route # Maximum depth: 1801.655425 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1746.551743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682684; longitude = -122.768503; captureRadius = 10; duration = 110; initialDepth = 1746.551743; finalDepth = 1721.433978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1746.551743 # Seafloor depth:-1791.551743 # 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 114.002712 meters # Minimum depth: 1805.570958 meters looking forward 100.000000 meters along route # Maximum depth: 1830.013310 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1760.570958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681992; longitude = -122.769386; captureRadius = 10; duration = 114; initialDepth = 1760.570958; finalDepth = 1746.551743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1760.570958 # Seafloor depth:-1805.570958 # 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 107.545330 meters # Minimum depth: 1830.321523 meters looking forward 100.000000 meters along route # Maximum depth: 1839.834827 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1785.321523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681280; longitude = -122.770295; captureRadius = 10; duration = 107; initialDepth = 1785.321523; finalDepth = 1760.570958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1785.321523 # Seafloor depth:-1830.321523 # 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 110.774751 meters # Minimum depth: 1840.244236 meters looking forward 100.000000 meters along route # Maximum depth: 1845.358584 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1795.244236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680609; longitude = -122.771153; captureRadius = 10; duration = 110; initialDepth = 1795.244236; finalDepth = 1785.321523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1795.244236 # Seafloor depth:-1840.244236 # 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 110.775238 meters # Minimum depth: 1838.096295 meters looking forward 100.000000 meters along route # Maximum depth: 1844.961063 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1793.096295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679917; longitude = -122.772036; captureRadius = 10; duration = 110; initialDepth = 1793.096295; finalDepth = 1795.244236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8647679999999 # Actual altitude: 51.8647679999999 # Commanded vehicle depth:1793.096295 # Seafloor depth:-1844.961063 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 207.46; 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 = 207.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.775725 meters # Minimum depth: 1811.199333 meters looking forward 100.000000 meters along route # Maximum depth: 1823.172659 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1766.199333 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679225; longitude = -122.772919; captureRadius = 10; duration = 110; initialDepth = 1766.199333; finalDepth = 1793.096295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.973326 # Actual altitude: 56.973326 # Commanded vehicle depth:1766.199333 # Seafloor depth:-1823.172659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.776212 meters # Minimum depth: 1808.076371 meters looking forward 100.000000 meters along route # Maximum depth: 1810.702739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1763.076371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678534; longitude = -122.773802; captureRadius = 10; duration = 110; initialDepth = 1763.076371; finalDepth = 1766.199333; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.973326 # Actual altitude: 56.973326 # Commanded vehicle depth:1763.076371 # Seafloor depth:-1808.076371 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.79; MB_Bottom_Detect_Filter_Max_Range = 227.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.776698 meters # Minimum depth: 1796.157500 meters looking forward 100.000000 meters along route # Maximum depth: 1823.527098 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1751.157500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677842; longitude = -122.774685; captureRadius = 10; duration = 110; initialDepth = 1751.157500; finalDepth = 1763.076371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1044079999999 # Actual altitude: 50.1044079999999 # Commanded vehicle depth:1751.1575 # Seafloor depth:-1801.261908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 116.473600 meters # Minimum depth: 1826.097026 meters looking forward 100.000000 meters along route # Maximum depth: 1854.226636 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.097026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677150; longitude = -122.775568; captureRadius = 10; duration = 116; initialDepth = 1781.097026; finalDepth = 1751.157500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1044079999999 # Actual altitude: 50.1044079999999 # Commanded vehicle depth:1781.097026 # Seafloor depth:-1826.097026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 105.081259 meters # Minimum depth: 1856.236610 meters looking forward 100.000000 meters along route # Maximum depth: 1879.348166 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1811.236610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676423; longitude = -122.776497; captureRadius = 10; duration = 105; initialDepth = 1811.236610; finalDepth = 1781.097026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1811.23661 # Seafloor depth:-1856.236610 # 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 110.778159 meters # Minimum depth: 1892.628952 meters looking forward 100.000000 meters along route # Maximum depth: 1923.586019 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1847.628952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675767; longitude = -122.777335; captureRadius = 10; duration = 110; initialDepth = 1847.628952; finalDepth = 1811.236610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1847.628952 # Seafloor depth:-1892.628952 # 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 110.778647 meters # Minimum depth: 1923.420748 meters looking forward 100.000000 meters along route # Maximum depth: 1935.551562 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1878.420748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675075; longitude = -122.778218; captureRadius = 10; duration = 110; initialDepth = 1878.420748; finalDepth = 1847.628952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1878.420748 # Seafloor depth:-1923.420748 # 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 110.779133 meters # Minimum depth: 1956.890361 meters looking forward 100.000000 meters along route # Maximum depth: 2007.011127 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1911.890361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674383; longitude = -122.779101; captureRadius = 10; duration = 110; initialDepth = 1911.890361; finalDepth = 1878.420748; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1911.890361 # Seafloor depth:-1956.890361 # 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 110.779621 meters # Minimum depth: 2012.402591 meters looking forward 100.000000 meters along route # Maximum depth: 2039.591937 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1967.402591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673692; longitude = -122.779984; captureRadius = 10; duration = 110; initialDepth = 1967.402591; finalDepth = 1911.890361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1967.402591 # Seafloor depth:-2012.402591 # 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 110.780107 meters # Minimum depth: 2038.891628 meters looking forward 100.000000 meters along route # Maximum depth: 2053.494435 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1993.891628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673000; longitude = -122.780867; captureRadius = 10; duration = 110; initialDepth = 1993.891628; finalDepth = 1967.402591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1993.891628 # Seafloor depth:-2038.891628 # 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 118.944641 meters # Minimum depth: 2053.637192 meters looking forward 100.000000 meters along route # Maximum depth: 2060.582915 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2008.637192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672308; longitude = -122.781750; captureRadius = 10; duration = 118; initialDepth = 2008.637192; finalDepth = 1993.891628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1670279999998 # Actual altitude: 50 # Commanded vehicle depth:2008.637192 # Seafloor depth:-2054.804220 # 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 102.617036 meters # Minimum depth: 2056.549945 meters looking forward 100.000000 meters along route # Maximum depth: 2060.762843 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2011.549945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671566; longitude = -122.782698; captureRadius = 10; duration = 102; initialDepth = 2011.549945; finalDepth = 2008.637192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6841629999999 # Actual altitude: 50 # Commanded vehicle depth:2011.549945 # Seafloor depth:-2059.234108 # 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 110.781568 meters # Minimum depth: 2065.107498 meters looking forward 100.000000 meters along route # Maximum depth: 2084.469746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2020.107498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670925; longitude = -122.783516; captureRadius = 10; duration = 110; initialDepth = 2020.107498; finalDepth = 2011.549945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6841629999999 # Actual altitude: 50 # Commanded vehicle depth:2020.107498 # Seafloor depth:-2065.107498 # 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 110.782056 meters # Minimum depth: 2084.924112 meters looking forward 100.000000 meters along route # Maximum depth: 2102.373904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2039.924112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670233; longitude = -122.784399; captureRadius = 10; duration = 110; initialDepth = 2039.924112; finalDepth = 2020.107498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2039.924112 # Seafloor depth:-2084.924112 # 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 110.782543 meters # Minimum depth: 2108.147266 meters looking forward 100.000000 meters along route # Maximum depth: 2125.002560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.147266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669542; longitude = -122.785283; captureRadius = 10; duration = 110; initialDepth = 2063.147266; finalDepth = 2039.924112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2063.147266 # Seafloor depth:-2108.147266 # 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 110.783030 meters # Minimum depth: 2126.730606 meters looking forward 100.000000 meters along route # Maximum depth: 2138.225972 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2081.730606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668850; longitude = -122.786166; captureRadius = 10; duration = 110; initialDepth = 2081.730606; finalDepth = 2063.147266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2081.730606 # Seafloor depth:-2126.730606 # 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 110.783517 meters # Minimum depth: 2159.040786 meters looking forward 100.000000 meters along route # Maximum depth: 2180.718243 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2114.040786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668158; longitude = -122.787049; captureRadius = 10; duration = 110; initialDepth = 2114.040786; finalDepth = 2081.730606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2114.040786 # Seafloor depth:-2159.040786 # 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 121.415834 meters # Minimum depth: 2187.931910 meters looking forward 100.000000 meters along route # Maximum depth: 2228.010371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2142.931910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667467; longitude = -122.787932; captureRadius = 10; duration = 121; initialDepth = 2142.931910; finalDepth = 2114.040786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2142.93191 # Seafloor depth:-2187.931910 # 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 100.152661 meters # Minimum depth: 2233.451263 meters looking forward 100.000000 meters along route # Maximum depth: 2264.581188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2188.451263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666709; longitude = -122.788900; captureRadius = 10; duration = 100; initialDepth = 2188.451263; finalDepth = 2142.931910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2188.451263 # Seafloor depth:-2233.451263 # 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 112.018485 meters # Minimum depth: 2278.273159 meters looking forward 100.000000 meters along route # Maximum depth: 2310.045372 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2233.273159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666083; longitude = -122.789698; captureRadius = 10; duration = 112; initialDepth = 2233.273159; finalDepth = 2188.451263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2233.273159 # Seafloor depth:-2278.273159 # 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 109.551959 meters # Minimum depth: 2310.536833 meters looking forward 100.000000 meters along route # Maximum depth: 2317.326517 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.665384; longitude = -122.790591; captureRadius = 10; duration = 109; initialDepth = 2250.000000; finalDepth = 2233.273159; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.5368330000001 # Actual altitude: 60.5368330000001 # Commanded vehicle depth:2250 # Seafloor depth:-2310.536833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.21; MB_Bottom_Detect_Filter_Max_Range = 242.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.785952 meters # Minimum depth: 2314.060205 meters looking forward 100.000000 meters along route # Maximum depth: 2318.906114 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.664700; longitude = -122.791464; captureRadius = 10; duration = 110; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.0602050000002 # Actual altitude: 64.0602050000002 # Commanded vehicle depth:2250 # Seafloor depth:-2314.060205 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 256.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.786440 meters # Minimum depth: 2306.964666 meters looking forward 100.000000 meters along route # Maximum depth: 2318.028718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2250.000000 meters set to maximum vehicle depth behavior waypoint_depth { latitude = 35.664008; longitude = -122.792347; captureRadius = 10; duration = 110; initialDepth = 2250.000000; finalDepth = 2250.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.028718 # Actual altitude: 68.028718 # Commanded vehicle depth:2250 # Seafloor depth:-2318.028718 # 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 = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 110.786927 meters # Minimum depth: 2276.307140 meters looking forward 100.000000 meters along route # Maximum depth: 2298.039715 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2231.307140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663317; longitude = -122.793231; captureRadius = 10; duration = 110; initialDepth = 2231.307140; finalDepth = 2250.000000; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.028718 # Actual altitude: 68.028718 # Commanded vehicle depth:2231.30714 # Seafloor depth:-2298.039715 # 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 = 204.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 123.887180 meters # Minimum depth: 2275.509918 meters looking forward 100.000000 meters along route # Maximum depth: 2284.202401 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2230.509918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662625; longitude = -122.794114; captureRadius = 10; duration = 123; initialDepth = 2230.509918; finalDepth = 2231.307140; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.732575 # Actual altitude: 66.732575 # Commanded vehicle depth:2230.509918 # Seafloor depth:-2275.509918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.69; MB_Bottom_Detect_Filter_Max_Range = 266.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 100.838756 meters # Minimum depth: 2284.054696 meters looking forward 100.000000 meters along route # Maximum depth: 2313.140650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2239.054696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661852; longitude = -122.795101; captureRadius = 10; duration = 100; initialDepth = 2239.054696; finalDepth = 2230.509918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2239.054696 # Seafloor depth:-2284.054696 # 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 10 # Segment length 60.810429 meters # Minimum depth: 2282.974327 meters looking forward 100.000000 meters along route # Maximum depth: 2313.140650 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2237.974327 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661222; longitude = -122.795905; captureRadius = 10; duration = 60; initialDepth = 2237.974327; finalDepth = 2239.054696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.7172009999999 # Actual altitude: 74.7172009999999 # Commanded vehicle depth:2237.974327 # Seafloor depth:-2312.691528 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 298.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 109.240393 meters # Minimum depth: 2276.948182 meters looking forward 100.000000 meters along route # Maximum depth: 2280.895018 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2231.948182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660828; longitude = -122.795438; captureRadius = 10; duration = 109; initialDepth = 2231.948182; finalDepth = 2237.974327; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.7172009999999 # Actual altitude: 74.7172009999999 # Commanded vehicle depth:2231.948182 # Seafloor depth:-2280.895018 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.87; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.89; MB_Bottom_Detect_Filter_Max_Range = 298.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 5.610655 meters # Minimum depth: 2276.948182 meters looking forward 100.000000 meters along route # Maximum depth: 2290.360229 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2231.948182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660119; longitude = -122.794600; captureRadius = 10; duration = 5; initialDepth = 2231.948182; finalDepth = 2231.948182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4120469999998 # Actual altitude: 58.4120469999998 # Commanded vehicle depth:2231.948182 # Seafloor depth:-2290.360229 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 233.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.637358 meters # Minimum depth: 2294.651079 meters looking forward 100.000000 meters along route # Maximum depth: 2297.473658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2249.651079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660154; longitude = -122.794555; captureRadius = 10; duration = 110; initialDepth = 2249.651079; finalDepth = 2231.948182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.4120469999998 # Actual altitude: 58.4120469999998 # Commanded vehicle depth:2249.651079 # Seafloor depth:-2297.473658 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 233.65; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.36; MB_Bottom_Detect_Filter_Max_Range = 233.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.636871 meters # Minimum depth: 2280.537248 meters looking forward 100.000000 meters along route # Maximum depth: 2294.676331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2235.537248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660844; longitude = -122.793672; captureRadius = 10; duration = 110; initialDepth = 2235.537248; finalDepth = 2249.651079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.139083 # Actual altitude: 59.139083 # Commanded vehicle depth:2235.537248 # Seafloor depth:-2294.676331 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.636385 meters # Minimum depth: 2236.512674 meters looking forward 100.000000 meters along route # Maximum depth: 2274.718066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2191.512674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661533; longitude = -122.792789; captureRadius = 10; duration = 110; initialDepth = 2191.512674; finalDepth = 2235.537248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2053919999998 # Actual altitude: 83.2053919999998 # Commanded vehicle depth:2191.512674 # Seafloor depth:-2274.718066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 332.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.635898 meters # Minimum depth: 2227.227054 meters looking forward 100.000000 meters along route # Maximum depth: 2229.927783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2182.227054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662223; longitude = -122.791906; captureRadius = 10; duration = 110; initialDepth = 2182.227054; finalDepth = 2191.512674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.2053919999998 # Actual altitude: 83.2053919999998 # Commanded vehicle depth:2182.227054 # Seafloor depth:-2228.521394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 332.82; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.28; MB_Bottom_Detect_Filter_Max_Range = 332.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 249.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.089560 meters # Minimum depth: 2232.703711 meters looking forward 100.000000 meters along route # Maximum depth: 2242.809950 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2187.703711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662913; longitude = -122.791023; captureRadius = 10; duration = 113; initialDepth = 2187.703711; finalDepth = 2182.227054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2943399999999 # Actual altitude: 50 # Commanded vehicle depth:2187.703711 # Seafloor depth:-2232.703711 # 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 108.180777 meters # Minimum depth: 2241.499960 meters looking forward 100.000000 meters along route # Maximum depth: 2251.419057 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2196.499960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663618; longitude = -122.790120; captureRadius = 10; duration = 108; initialDepth = 2196.499960; finalDepth = 2187.703711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2196.49996 # Seafloor depth:-2241.499960 # 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 110.634439 meters # Minimum depth: 2221.664109 meters looking forward 100.000000 meters along route # Maximum depth: 2248.248106 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2176.664109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664292; longitude = -122.789257; captureRadius = 10; duration = 110; initialDepth = 2176.664109; finalDepth = 2196.499960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.5839970000002 # Actual altitude: 71.5839970000002 # Commanded vehicle depth:2176.664109 # Seafloor depth:-2248.248106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 286.34; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.63; MB_Bottom_Detect_Filter_Max_Range = 286.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.633952 meters # Minimum depth: 2185.249841 meters looking forward 100.000000 meters along route # Maximum depth: 2219.170335 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2140.249841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664982; longitude = -122.788373; captureRadius = 10; duration = 110; initialDepth = 2140.249841; finalDepth = 2176.664109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.920494 # Actual altitude: 78.920494 # Commanded vehicle depth:2140.249841 # Seafloor depth:-2219.170335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.68; 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 = 315.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.633466 meters # Minimum depth: 2125.711210 meters looking forward 100.000000 meters along route # Maximum depth: 2166.201107 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2080.711210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665672; longitude = -122.787490; captureRadius = 10; duration = 110; initialDepth = 2080.711210; finalDepth = 2140.249841; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4898969999999 # Actual altitude: 85.4898969999999 # Commanded vehicle depth:2080.71121 # Seafloor depth:-2166.201107 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 341.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.632980 meters # Minimum depth: 2092.073690 meters looking forward 100.000000 meters along route # Maximum depth: 2118.693026 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2047.073690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666361; longitude = -122.786607; captureRadius = 10; duration = 110; initialDepth = 2047.073690; finalDepth = 2080.711210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.4898969999999 # Actual altitude: 85.4898969999999 # Commanded vehicle depth:2047.07369 # Seafloor depth:-2118.693026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.96; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.20; MB_Bottom_Detect_Filter_Max_Range = 341.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.632493 meters # Minimum depth: 2041.316795 meters looking forward 100.000000 meters along route # Maximum depth: 2078.387286 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.316795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667051; longitude = -122.785724; captureRadius = 10; duration = 110; initialDepth = 1996.316795; finalDepth = 2047.073690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.0704910000002 # Actual altitude: 82.0704910000002 # Commanded vehicle depth:1996.316795 # Seafloor depth:-2078.387286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 328.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.83; MB_Bottom_Detect_Filter_Max_Range = 328.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 246.21; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 117.771405 meters # Minimum depth: 1990.431058 meters looking forward 100.000000 meters along route # Maximum depth: 2032.408169 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.431058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667741; longitude = -122.784841; captureRadius = 10; duration = 117; initialDepth = 1945.431058; finalDepth = 1996.316795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.9771110000001 # Actual altitude: 86.9771110000001 # Commanded vehicle depth:1945.431058 # Seafloor depth:-2032.408169 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 347.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 103.492123 meters # Minimum depth: 1981.190710 meters looking forward 100.000000 meters along route # Maximum depth: 1987.671037 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1936.190710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668475; longitude = -122.783901; captureRadius = 10; duration = 103; initialDepth = 1936.190710; finalDepth = 1945.431058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.9771110000001 # Actual altitude: 86.9771110000001 # Commanded vehicle depth:1936.19071 # Seafloor depth:-1987.556568 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 347.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.79; MB_Bottom_Detect_Filter_Max_Range = 347.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 260.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.631034 meters # Minimum depth: 1932.149095 meters looking forward 100.000000 meters along route # Maximum depth: 1966.267911 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1887.149095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669120; longitude = -122.783075; captureRadius = 10; duration = 110; initialDepth = 1887.149095; finalDepth = 1936.190710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1188159999999 # Actual altitude: 79.1188159999999 # Commanded vehicle depth:1887.149095 # Seafloor depth:-1966.267911 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.630548 meters # Minimum depth: 1925.789673 meters looking forward 100.000000 meters along route # Maximum depth: 1931.928246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.789673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669810; longitude = -122.782192; captureRadius = 10; duration = 110; initialDepth = 1880.789673; finalDepth = 1887.149095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.1188159999999 # Actual altitude: 79.1188159999999 # Commanded vehicle depth:1880.789673 # Seafloor depth:-1931.928246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.65; MB_Bottom_Detect_Filter_Max_Range = 316.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.630062 meters # Minimum depth: 1921.162581 meters looking forward 100.000000 meters along route # Maximum depth: 1945.812032 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1876.162581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670500; longitude = -122.781309; captureRadius = 10; duration = 110; initialDepth = 1876.162581; finalDepth = 1880.789673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.138573 # Actual altitude: 51.138573 # Commanded vehicle depth:1876.162581 # Seafloor depth:-1921.841393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.629575 meters # Minimum depth: 1944.406894 meters looking forward 100.000000 meters along route # Maximum depth: 1947.268236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.406894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671189; longitude = -122.780425; captureRadius = 10; duration = 110; initialDepth = 1899.406894; finalDepth = 1876.162581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8613419999999 # Actual altitude: 50 # Commanded vehicle depth:1899.406894 # Seafloor depth:-1947.268236 # 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 110.629090 meters # Minimum depth: 1917.005923 meters looking forward 100.000000 meters along route # Maximum depth: 1923.216277 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1872.005923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671879; longitude = -122.779542; captureRadius = 10; duration = 110; initialDepth = 1872.005923; finalDepth = 1899.406894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8613419999999 # Actual altitude: 50 # Commanded vehicle depth:1872.005923 # Seafloor depth:-1917.464761 # 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 110.628602 meters # Minimum depth: 1879.919208 meters looking forward 100.000000 meters along route # Maximum depth: 1909.538997 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1834.919208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672569; longitude = -122.778659; captureRadius = 10; duration = 110; initialDepth = 1834.919208; finalDepth = 1872.005923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6197890000001 # Actual altitude: 74.6197890000001 # Commanded vehicle depth:1834.919208 # Seafloor depth:-1909.538997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.85; MB_Bottom_Detect_Filter_Max_Range = 298.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.628117 meters # Minimum depth: 1841.873150 meters looking forward 100.000000 meters along route # Maximum depth: 1854.307012 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1796.873150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673258; longitude = -122.777776; captureRadius = 10; duration = 110; initialDepth = 1796.873150; finalDepth = 1834.919208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.6197890000001 # Actual altitude: 74.6197890000001 # Commanded vehicle depth:1796.87315 # Seafloor depth:-1854.307012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 298.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.85; MB_Bottom_Detect_Filter_Max_Range = 298.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 223.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 113.672617 meters # Minimum depth: 1800.503044 meters looking forward 100.000000 meters along route # Maximum depth: 1834.563499 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1755.503044 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673948; longitude = -122.776893; captureRadius = 10; duration = 113; initialDepth = 1755.503044; finalDepth = 1796.873150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.060455 # Actual altitude: 79.060455 # Commanded vehicle depth:1755.503044 # Seafloor depth:-1834.563499 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 316.24; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.62; MB_Bottom_Detect_Filter_Max_Range = 316.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 237.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 107.582157 meters # Minimum depth: 1764.153771 meters looking forward 100.000000 meters along route # Maximum depth: 1799.674423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1719.153771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674657; longitude = -122.775986; captureRadius = 10; duration = 107; initialDepth = 1719.153771; finalDepth = 1755.503044; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5206519999999 # Actual altitude: 80.5206519999999 # Commanded vehicle depth:1719.153771 # Seafloor depth:-1799.674423 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 322.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.626658 meters # Minimum depth: 1748.022295 meters looking forward 100.000000 meters along route # Maximum depth: 1752.541069 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1703.022295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675327; longitude = -122.775127; captureRadius = 10; duration = 110; initialDepth = 1703.022295; finalDepth = 1719.153771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.5206519999999 # Actual altitude: 80.5206519999999 # Commanded vehicle depth:1703.022295 # Seafloor depth:-1748.022295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 322.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.21; MB_Bottom_Detect_Filter_Max_Range = 322.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.626172 meters # Minimum depth: 1750.396233 meters looking forward 100.000000 meters along route # Maximum depth: 1775.035497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1705.396233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676017; longitude = -122.774244; captureRadius = 10; duration = 110; initialDepth = 1705.396233; finalDepth = 1703.022295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1705.396233 # Seafloor depth:-1750.396233 # 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 110.625685 meters # Minimum depth: 1763.934414 meters looking forward 100.000000 meters along route # Maximum depth: 1772.008402 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.934414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676707; longitude = -122.773360; captureRadius = 10; duration = 110; initialDepth = 1718.934414; finalDepth = 1705.396233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0739879999999 # Actual altitude: 53.0739879999999 # Commanded vehicle depth:1718.934414 # Seafloor depth:-1772.008402 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.625200 meters # Minimum depth: 1767.959476 meters looking forward 100.000000 meters along route # Maximum depth: 1774.222557 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1722.959476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677397; longitude = -122.772477; captureRadius = 10; duration = 110; initialDepth = 1722.959476; finalDepth = 1718.934414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0739879999999 # Actual altitude: 53.0739879999999 # Commanded vehicle depth:1722.959476 # Seafloor depth:-1767.959476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 212.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.23; MB_Bottom_Detect_Filter_Max_Range = 212.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.624713 meters # Minimum depth: 1779.674876 meters looking forward 100.000000 meters along route # Maximum depth: 1794.487795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.674876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678086; longitude = -122.771594; captureRadius = 10; duration = 110; initialDepth = 1734.674876; finalDepth = 1722.959476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1734.674876 # Seafloor depth:-1779.674876 # 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 118.354114 meters # Minimum depth: 1790.674762 meters looking forward 100.000000 meters along route # Maximum depth: 1800.725320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.674762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678776; longitude = -122.770711; captureRadius = 10; duration = 118; initialDepth = 1745.674762; finalDepth = 1734.674876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.568 # Actual altitude: 53.568 # Commanded vehicle depth:1745.674762 # Seafloor depth:-1799.242762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.43; MB_Bottom_Detect_Filter_Max_Range = 214.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 102.893853 meters # Minimum depth: 1765.728301 meters looking forward 100.000000 meters along route # Maximum depth: 1788.816282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1720.728301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679514; longitude = -122.769766; captureRadius = 10; duration = 102; initialDepth = 1720.728301; finalDepth = 1745.674762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0879809999999 # Actual altitude: 68.0879809999999 # Commanded vehicle depth:1720.728301 # Seafloor depth:-1788.816282 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.24; MB_Bottom_Detect_Filter_Max_Range = 272.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.623255 meters # Minimum depth: 1720.872581 meters looking forward 100.000000 meters along route # Maximum depth: 1757.604525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1675.872581 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680155; longitude = -122.768945; captureRadius = 10; duration = 110; initialDepth = 1675.872581; finalDepth = 1720.728301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7319439999999 # Actual altitude: 81.7319439999999 # Commanded vehicle depth:1675.872581 # Seafloor depth:-1757.604525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.69; MB_Bottom_Detect_Filter_Max_Range = 326.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.622768 meters # Minimum depth: 1701.962087 meters looking forward 100.000000 meters along route # Maximum depth: 1720.602714 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.962087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680845; longitude = -122.768062; captureRadius = 10; duration = 110; initialDepth = 1656.962087; finalDepth = 1675.872581; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.7319439999999 # Actual altitude: 81.7319439999999 # Commanded vehicle depth:1656.962087 # Seafloor depth:-1720.602714 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 326.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.69; MB_Bottom_Detect_Filter_Max_Range = 326.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.622282 meters # Minimum depth: 1677.898969 meters looking forward 100.000000 meters along route # Maximum depth: 1695.144707 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.898969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681535; longitude = -122.767179; captureRadius = 10; duration = 110; initialDepth = 1632.898969; finalDepth = 1656.962087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.640627 # Actual altitude: 63.640627 # Commanded vehicle depth:1632.898969 # Seafloor depth:-1695.144707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.621797 meters # Minimum depth: 1661.700269 meters looking forward 100.000000 meters along route # Maximum depth: 1675.638962 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1616.700269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682224; longitude = -122.766296; captureRadius = 10; duration = 110; initialDepth = 1616.700269; finalDepth = 1632.898969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.2457379999998 # Actual altitude: 62.2457379999998 # Commanded vehicle depth:1616.700269 # Seafloor depth:-1675.638962 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.90; MB_Bottom_Detect_Filter_Max_Range = 248.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.621310 meters # Minimum depth: 1625.520157 meters looking forward 100.000000 meters along route # Maximum depth: 1655.413617 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1580.520157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682914; longitude = -122.765412; captureRadius = 10; duration = 110; initialDepth = 1580.520157; finalDepth = 1616.700269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.89346 # Actual altitude: 74.89346 # Commanded vehicle depth:1580.520157 # Seafloor depth:-1655.413617 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.96; MB_Bottom_Detect_Filter_Max_Range = 299.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.620824 meters # Minimum depth: 1619.833218 meters looking forward 100.000000 meters along route # Maximum depth: 1629.954466 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.833218 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683604; longitude = -122.764529; captureRadius = 10; duration = 110; initialDepth = 1574.833218; finalDepth = 1580.520157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.89346 # Actual altitude: 74.89346 # Commanded vehicle depth:1574.833218 # Seafloor depth:-1619.833218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 299.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.96; MB_Bottom_Detect_Filter_Max_Range = 299.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 110.620337 meters # Minimum depth: 1643.255199 meters looking forward 100.000000 meters along route # Maximum depth: 1660.406569 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.255199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684294; longitude = -122.763646; captureRadius = 10; duration = 110; initialDepth = 1598.255199; finalDepth = 1574.833218; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1598.255199 # Seafloor depth:-1643.255199 # 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 114.255594 meters # Minimum depth: 1634.169132 meters looking forward 100.000000 meters along route # Maximum depth: 1661.884455 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1589.169132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684983; longitude = -122.762763; captureRadius = 10; duration = 114; initialDepth = 1589.169132; finalDepth = 1598.255199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.7153229999999 # Actual altitude: 72.7153229999999 # Commanded vehicle depth:1589.169132 # Seafloor depth:-1661.884455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 290.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.09; MB_Bottom_Detect_Filter_Max_Range = 290.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 218.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 106.983624 meters # Minimum depth: 1595.816812 meters looking forward 100.000000 meters along route # Maximum depth: 1631.048514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.816812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685696; longitude = -122.761851; captureRadius = 10; duration = 106; initialDepth = 1550.816812; finalDepth = 1589.169132; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.231702 # Actual altitude: 80.231702 # Commanded vehicle depth:1550.816812 # Seafloor depth:-1631.048514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 320.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.09; MB_Bottom_Detect_Filter_Max_Range = 320.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 240.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 129.005592 meters # Minimum depth: 1546.834043 meters looking forward 100.000000 meters along route # Maximum depth: 1583.200551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1501.834043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686363; longitude = -122.760997; captureRadius = 10; duration = 129; initialDepth = 1501.834043; finalDepth = 1550.816812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3665079999998 # Actual altitude: 81.3665079999998 # Commanded vehicle depth:1501.834043 # Seafloor depth:-1583.200551 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 325.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 78.129985 meters # Minimum depth: 1537.770554 meters looking forward 100.000000 meters along route # Maximum depth: 1552.966370 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1492.770554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.687167; longitude = -122.759967; captureRadius = 10; duration = 78; initialDepth = 1492.770554; finalDepth = 1501.834043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3665079999998 # Actual altitude: 81.3665079999998 # Commanded vehicle depth:1492.770554 # Seafloor depth:-1552.966370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.55; MB_Bottom_Detect_Filter_Max_Range = 325.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 109.363355 meters # Minimum depth: 1570.592284 meters looking forward 100.000000 meters along route # Maximum depth: 1579.266564 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1525.592284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686799; longitude = -122.759231; captureRadius = 10; duration = 109; initialDepth = 1525.592284; finalDepth = 1492.770554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1958160000001 # Actual altitude: 60.1958160000001 # Commanded vehicle depth:1525.592284 # Seafloor depth:-1570.592284 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.78; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.08; MB_Bottom_Detect_Filter_Max_Range = 240.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 73.612005 meters # Minimum depth: 1577.919434 meters looking forward 100.000000 meters along route # Maximum depth: 1588.029429 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.919434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.686284; longitude = -122.758200; captureRadius = 10; duration = 73; initialDepth = 1532.919434; finalDepth = 1525.592284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1532.919434 # Seafloor depth:-1577.919434 # 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 110.347929 meters # Minimum depth: 1604.752097 meters looking forward 100.000000 meters along route # Maximum depth: 1626.001236 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1559.752097 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685826; longitude = -122.758789; captureRadius = 10; duration = 110; initialDepth = 1559.752097; finalDepth = 1532.919434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1559.752097 # Seafloor depth:-1604.752097 # 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 110.348415 meters # Minimum depth: 1628.439363 meters looking forward 100.000000 meters along route # Maximum depth: 1632.051253 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1583.439363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685140; longitude = -122.759672; captureRadius = 10; duration = 110; initialDepth = 1583.439363; finalDepth = 1559.752097; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1583.439363 # Seafloor depth:-1628.439363 # 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 110.348899 meters # Minimum depth: 1610.628718 meters looking forward 100.000000 meters along route # Maximum depth: 1624.631271 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1565.628718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684454; longitude = -122.760555; captureRadius = 10; duration = 110; initialDepth = 1565.628718; finalDepth = 1583.439363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.002553 # Actual altitude: 59.002553 # Commanded vehicle depth:1565.628718 # Seafloor depth:-1624.631271 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 236.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 116.038812 meters # Minimum depth: 1562.428776 meters looking forward 100.000000 meters along route # Maximum depth: 1603.732383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1517.428776 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683768; longitude = -122.761438; captureRadius = 10; duration = 116; initialDepth = 1517.428776; finalDepth = 1565.628718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3036070000001 # Actual altitude: 86.3036070000001 # Commanded vehicle depth:1517.428776 # Seafloor depth:-1603.732383 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 345.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 104.660440 meters # Minimum depth: 1526.774742 meters looking forward 100.000000 meters along route # Maximum depth: 1560.560610 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.774742 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683046; longitude = -122.762367; captureRadius = 10; duration = 104; initialDepth = 1481.774742; finalDepth = 1517.428776; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 86.3036070000001 # Actual altitude: 86.3036070000001 # Commanded vehicle depth:1481.774742 # Seafloor depth:-1560.560610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 345.21; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.52; MB_Bottom_Detect_Filter_Max_Range = 345.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 258.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.350354 meters # Minimum depth: 1520.384296 meters looking forward 100.000000 meters along route # Maximum depth: 1553.778296 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1475.384296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682396; longitude = -122.763205; captureRadius = 10; duration = 110; initialDepth = 1475.384296; finalDepth = 1481.774742; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.7858679999999 # Actual altitude: 78.7858679999999 # Commanded vehicle depth:1475.384296 # Seafloor depth:-1520.384296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 315.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.350838 meters # Minimum depth: 1554.401819 meters looking forward 100.000000 meters along route # Maximum depth: 1567.033212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.401819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681709; longitude = -122.764088; captureRadius = 10; duration = 110; initialDepth = 1509.401819; finalDepth = 1475.384296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1509.401819 # Seafloor depth:-1554.401819 # 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 110.351323 meters # Minimum depth: 1577.211026 meters looking forward 100.000000 meters along route # Maximum depth: 1596.080316 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1532.211026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681023; longitude = -122.764971; captureRadius = 10; duration = 110; initialDepth = 1532.211026; finalDepth = 1509.401819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1532.211026 # Seafloor depth:-1577.211026 # 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 110.351808 meters # Minimum depth: 1600.657539 meters looking forward 100.000000 meters along route # Maximum depth: 1629.265184 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1555.657539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680337; longitude = -122.765854; captureRadius = 10; duration = 110; initialDepth = 1555.657539; finalDepth = 1532.211026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1555.657539 # Seafloor depth:-1600.657539 # 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 110.352293 meters # Minimum depth: 1643.658516 meters looking forward 100.000000 meters along route # Maximum depth: 1684.921822 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1598.658516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679651; longitude = -122.766737; captureRadius = 10; duration = 110; initialDepth = 1598.658516; finalDepth = 1555.657539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1598.658516 # Seafloor depth:-1643.658516 # 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 110.352778 meters # Minimum depth: 1690.584800 meters looking forward 100.000000 meters along route # Maximum depth: 1707.030282 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1645.584800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678965; longitude = -122.767620; captureRadius = 10; duration = 110; initialDepth = 1645.584800; finalDepth = 1598.658516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1645.5848 # Seafloor depth:-1690.584800 # 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 110.353263 meters # Minimum depth: 1715.716770 meters looking forward 100.000000 meters along route # Maximum depth: 1729.309718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.716770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678279; longitude = -122.768503; captureRadius = 10; duration = 110; initialDepth = 1670.716770; finalDepth = 1645.584800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1670.71677 # Seafloor depth:-1715.716770 # 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 117.075427 meters # Minimum depth: 1731.842334 meters looking forward 100.000000 meters along route # Maximum depth: 1746.967756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1686.842334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677592; longitude = -122.769386; captureRadius = 10; duration = 117; initialDepth = 1686.842334; finalDepth = 1670.716770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1686.842334 # Seafloor depth:-1731.842334 # 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 103.632552 meters # Minimum depth: 1744.070016 meters looking forward 100.000000 meters along route # Maximum depth: 1758.058840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1699.070016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676864; longitude = -122.770323; captureRadius = 10; duration = 103; initialDepth = 1699.070016; finalDepth = 1686.842334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1699.070016 # Seafloor depth:-1744.070016 # 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 110.354718 meters # Minimum depth: 1763.736584 meters looking forward 100.000000 meters along route # Maximum depth: 1774.813305 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1718.736584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676220; longitude = -122.771153; captureRadius = 10; duration = 110; initialDepth = 1718.736584; finalDepth = 1699.070016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1718.736584 # Seafloor depth:-1763.736584 # 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 110.355202 meters # Minimum depth: 1768.792257 meters looking forward 100.000000 meters along route # Maximum depth: 1769.155826 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1723.792257 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675534; longitude = -122.772036; captureRadius = 10; duration = 110; initialDepth = 1723.792257; finalDepth = 1718.736584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3432209999999 # Actual altitude: 50 # Commanded vehicle depth:1723.792257 # Seafloor depth:-1769.135478 # 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 110.355687 meters # Minimum depth: 1774.618402 meters looking forward 100.000000 meters along route # Maximum depth: 1782.621615 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1729.618402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674848; longitude = -122.772919; captureRadius = 10; duration = 110; initialDepth = 1729.618402; finalDepth = 1723.792257; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3432209999999 # Actual altitude: 50 # Commanded vehicle depth:1729.618402 # Seafloor depth:-1774.618402 # 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 110.356172 meters # Minimum depth: 1779.136593 meters looking forward 100.000000 meters along route # Maximum depth: 1783.778504 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1734.136593 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674162; longitude = -122.773802; captureRadius = 10; duration = 110; initialDepth = 1734.136593; finalDepth = 1729.618402; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6419110000002 # Actual altitude: 50 # Commanded vehicle depth:1734.136593 # Seafloor depth:-1783.778504 # 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 110.356657 meters # Minimum depth: 1780.050194 meters looking forward 100.000000 meters along route # Maximum depth: 1787.980643 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1735.050194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673476; longitude = -122.774685; captureRadius = 10; duration = 110; initialDepth = 1735.050194; finalDepth = 1734.136593; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6419110000002 # Actual altitude: 50 # Commanded vehicle depth:1735.050194 # Seafloor depth:-1780.050194 # 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 110.357142 meters # Minimum depth: 1790.578971 meters looking forward 100.000000 meters along route # Maximum depth: 1819.619268 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1745.578971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672789; longitude = -122.775568; captureRadius = 10; duration = 110; initialDepth = 1745.578971; finalDepth = 1735.050194; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1745.578971 # Seafloor depth:-1790.578971 # 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 110.357627 meters # Minimum depth: 1833.039661 meters looking forward 100.000000 meters along route # Maximum depth: 1869.900013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1788.039661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672103; longitude = -122.776451; captureRadius = 10; duration = 110; initialDepth = 1788.039661; finalDepth = 1745.578971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1788.039661 # Seafloor depth:-1833.039661 # 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 118.112126 meters # Minimum depth: 1878.341903 meters looking forward 100.000000 meters along route # Maximum depth: 1912.116782 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.341903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671417; longitude = -122.777335; captureRadius = 10; duration = 118; initialDepth = 1833.341903; finalDepth = 1788.039661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1833.341903 # Seafloor depth:-1878.341903 # 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 102.604583 meters # Minimum depth: 1912.041693 meters looking forward 100.000000 meters along route # Maximum depth: 1918.380642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1867.041693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670683; longitude = -122.778280; captureRadius = 10; duration = 102; initialDepth = 1867.041693; finalDepth = 1833.341903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1867.041693 # Seafloor depth:-1912.041693 # 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 110.451513 meters # Minimum depth: 1924.671196 meters looking forward 100.000000 meters along route # Maximum depth: 1934.221685 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1879.671196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670045; longitude = -122.779101; captureRadius = 10; duration = 110; initialDepth = 1879.671196; finalDepth = 1867.041693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1879.671196 # Seafloor depth:-1924.671196 # 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 110.267137 meters # Minimum depth: 1922.445714 meters looking forward 100.000000 meters along route # Maximum depth: 1934.198672 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1877.445714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669358; longitude = -122.779985; captureRadius = 10; duration = 110; initialDepth = 1877.445714; finalDepth = 1879.671196; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.752958 # Actual altitude: 56.752958 # Commanded vehicle depth:1877.445714 # Seafloor depth:-1934.198672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.70; MB_Bottom_Detect_Filter_Max_Range = 227.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.360052 meters # Minimum depth: 1897.642089 meters looking forward 100.000000 meters along route # Maximum depth: 1916.009162 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1852.642089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668672; longitude = -122.780867; captureRadius = 10; duration = 110; initialDepth = 1852.642089; finalDepth = 1877.445714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3670730000001 # Actual altitude: 63.3670730000001 # Commanded vehicle depth:1852.642089 # Seafloor depth:-1916.009162 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.47; 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 = 253.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.360537 meters # Minimum depth: 1898.087314 meters looking forward 100.000000 meters along route # Maximum depth: 1911.771746 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.087314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667986; longitude = -122.781750; captureRadius = 10; duration = 110; initialDepth = 1853.087314; finalDepth = 1852.642089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.3670730000001 # Actual altitude: 63.3670730000001 # Commanded vehicle depth:1853.087314 # Seafloor depth:-1898.087314 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.47; 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 = 253.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.361022 meters # Minimum depth: 1918.913477 meters looking forward 100.000000 meters along route # Maximum depth: 1933.972660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1873.913477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667300; longitude = -122.782633; captureRadius = 10; duration = 110; initialDepth = 1873.913477; finalDepth = 1853.087314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1873.913477 # Seafloor depth:-1918.913477 # 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 110.361507 meters # Minimum depth: 1938.227261 meters looking forward 100.000000 meters along route # Maximum depth: 1947.316194 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1893.227261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666614; longitude = -122.783516; captureRadius = 10; duration = 110; initialDepth = 1893.227261; finalDepth = 1873.913477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1893.227261 # Seafloor depth:-1938.227261 # 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 110.361992 meters # Minimum depth: 1990.037444 meters looking forward 100.000000 meters along route # Maximum depth: 2030.368846 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1945.037444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665928; longitude = -122.784399; captureRadius = 10; duration = 110; initialDepth = 1945.037444; finalDepth = 1893.227261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1945.037444 # Seafloor depth:-1990.037444 # 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 119.148906 meters # Minimum depth: 2040.415396 meters looking forward 100.000000 meters along route # Maximum depth: 2098.502712 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1995.415396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665242; longitude = -122.785283; captureRadius = 10; duration = 119; initialDepth = 1995.415396; finalDepth = 1945.037444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1995.415396 # Seafloor depth:-2040.415396 # 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 101.576534 meters # Minimum depth: 2103.010449 meters looking forward 100.000000 meters along route # Maximum depth: 2146.940853 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2058.010449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664501; longitude = -122.786236; captureRadius = 10; duration = 101; initialDepth = 2058.010449; finalDepth = 1995.415396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2058.010449 # Seafloor depth:-2103.010449 # 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 111.488000 meters # Minimum depth: 2158.670991 meters looking forward 100.000000 meters along route # Maximum depth: 2176.495947 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.670991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663869; longitude = -122.787049; captureRadius = 10; duration = 111; initialDepth = 2113.670991; finalDepth = 2058.010449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2113.670991 # Seafloor depth:-2158.670991 # 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 109.239381 meters # Minimum depth: 2166.333352 meters looking forward 100.000000 meters along route # Maximum depth: 2176.329245 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2121.333352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663176; longitude = -122.787941; captureRadius = 10; duration = 109; initialDepth = 2121.333352; finalDepth = 2113.670991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9958929999998 # Actual altitude: 54.9958929999998 # Commanded vehicle depth:2121.333352 # Seafloor depth:-2176.329245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.364418 meters # Minimum depth: 2164.986344 meters looking forward 100.000000 meters along route # Maximum depth: 2170.312511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2119.986344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662497; longitude = -122.788815; captureRadius = 10; duration = 110; initialDepth = 2119.986344; finalDepth = 2121.333352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.9958929999998 # Actual altitude: 54.9958929999998 # Commanded vehicle depth:2119.986344 # Seafloor depth:-2166.248634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 219.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 110.364903 meters # Minimum depth: 2171.397820 meters looking forward 100.000000 meters along route # Maximum depth: 2182.930567 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2126.397820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661811; longitude = -122.789698; captureRadius = 10; duration = 110; initialDepth = 2126.397820; finalDepth = 2119.986344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.2622900000001 # Actual altitude: 50 # Commanded vehicle depth:2126.39782 # Seafloor depth:-2171.397820 # 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 110.365388 meters # Minimum depth: 2190.464438 meters looking forward 100.000000 meters along route # Maximum depth: 2228.819256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2145.464438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661125; longitude = -122.790581; captureRadius = 10; duration = 110; initialDepth = 2145.464438; finalDepth = 2126.397820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2145.464438 # Seafloor depth:-2190.464438 # 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 127.846838 meters # Minimum depth: 2234.216848 meters looking forward 100.000000 meters along route # Maximum depth: 2256.391821 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2189.216848 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660439; longitude = -122.791464; captureRadius = 10; duration = 127; initialDepth = 2189.216848; finalDepth = 2145.464438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2189.216848 # Seafloor depth:-2234.216848 # 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 100.815612 meters # Minimum depth: 2262.275125 meters looking forward 100.000000 meters along route # Maximum depth: 2292.983971 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2217.275125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659644; longitude = -122.792487; captureRadius = 10; duration = 100; initialDepth = 2217.275125; finalDepth = 2189.216848; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2217.275125 # Seafloor depth:-2262.275125 # 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 65.776469 meters # Minimum depth: 2282.392277 meters looking forward 100.000000 meters along route # Maximum depth: 2303.437622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2237.392277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659017; longitude = -122.793294; captureRadius = 10; duration = 65; initialDepth = 2237.392277; finalDepth = 2217.275125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.045345 # Actual altitude: 66.045345 # Commanded vehicle depth:2237.392277 # Seafloor depth:-2303.437622 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 264.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 104.196827 meters # Minimum depth: 2261.063960 meters looking forward 100.000000 meters along route # Maximum depth: 2274.398096 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2216.063960 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658591; longitude = -122.792789; captureRadius = 10; duration = 104; initialDepth = 2216.063960; finalDepth = 2237.392277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.045345 # Actual altitude: 66.045345 # Commanded vehicle depth:2216.06396 # Seafloor depth:-2274.398096 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 264.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.42; MB_Bottom_Detect_Filter_Max_Range = 264.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 65.842535 meters # Minimum depth: 2221.118700 meters looking forward 100.000000 meters along route # Maximum depth: 2256.994385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2176.118700 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657915; longitude = -122.791989; captureRadius = 10; duration = 65; initialDepth = 2176.118700; finalDepth = 2216.063960; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.875685 # Actual altitude: 80.875685 # Commanded vehicle depth:2176.1187 # Seafloor depth:-2256.994385 # 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 = 242.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.821900 meters # Minimum depth: 2175.413284 meters looking forward 100.000000 meters along route # Maximum depth: 2220.627232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2130.413284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658326; longitude = -122.791464; captureRadius = 10; duration = 110; initialDepth = 2130.413284; finalDepth = 2176.118700; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2139479999996 # Actual altitude: 90.2139479999996 # Commanded vehicle depth:2130.413284 # Seafloor depth:-2220.627232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 360.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.09; MB_Bottom_Detect_Filter_Max_Range = 360.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.821413 meters # Minimum depth: 2118.215227 meters looking forward 100.000000 meters along route # Maximum depth: 2152.716953 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2073.215227 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659018; longitude = -122.790581; captureRadius = 10; duration = 110; initialDepth = 2073.215227; finalDepth = 2130.413284; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 90.2139479999996 # Actual altitude: 90.2139479999996 # Commanded vehicle depth:2073.215227 # Seafloor depth:-2152.716953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 360.86; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.09; MB_Bottom_Detect_Filter_Max_Range = 360.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 270.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.820926 meters # Minimum depth: 2116.203470 meters looking forward 100.000000 meters along route # Maximum depth: 2124.103473 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2071.203470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659710; longitude = -122.789698; captureRadius = 10; duration = 110; initialDepth = 2071.203470; finalDepth = 2073.215227; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.501726 # Actual altitude: 79.501726 # Commanded vehicle depth:2071.20347 # Seafloor depth:-2116.203470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.01; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.80; MB_Bottom_Detect_Filter_Max_Range = 318.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.820439 meters # Minimum depth: 2095.398563 meters looking forward 100.000000 meters along route # Maximum depth: 2115.487104 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2050.398563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660402; longitude = -122.788815; captureRadius = 10; duration = 110; initialDepth = 2050.398563; finalDepth = 2071.203470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0885409999996 # Actual altitude: 65.0885409999996 # Commanded vehicle depth:2050.398563 # Seafloor depth:-2115.487104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 260.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 121.215546 meters # Minimum depth: 2093.743767 meters looking forward 100.000000 meters along route # Maximum depth: 2094.429272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.743767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661095; longitude = -122.787932; captureRadius = 10; duration = 121; initialDepth = 2048.743767; finalDepth = 2050.398563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.0885409999996 # Actual altitude: 65.0885409999996 # Commanded vehicle depth:2048.743767 # Seafloor depth:-2093.896007 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.04; MB_Bottom_Detect_Filter_Max_Range = 260.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 100.423870 meters # Minimum depth: 2094.638572 meters looking forward 100.000000 meters along route # Maximum depth: 2101.407232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2049.638572 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661852; longitude = -122.786966; captureRadius = 10; duration = 100; initialDepth = 2049.638572; finalDepth = 2048.743767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1522399999999 # Actual altitude: 50 # Commanded vehicle depth:2049.638572 # Seafloor depth:-2094.638572 # 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 111.685827 meters # Minimum depth: 2071.115248 meters looking forward 100.000000 meters along route # Maximum depth: 2090.806939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2026.115248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662479; longitude = -122.786166; captureRadius = 10; duration = 111; initialDepth = 2026.115248; finalDepth = 2049.638572; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.691691 # Actual altitude: 64.691691 # Commanded vehicle depth:2026.115248 # Seafloor depth:-2090.806939 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 258.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 109.951640 meters # Minimum depth: 2032.963342 meters looking forward 100.000000 meters along route # Maximum depth: 2070.801864 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1987.963342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663176; longitude = -122.785276; captureRadius = 10; duration = 109; initialDepth = 1987.963342; finalDepth = 2026.115248; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 82.838522 # Actual altitude: 82.838522 # Commanded vehicle depth:1987.963342 # Seafloor depth:-2070.801864 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 331.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.14; MB_Bottom_Detect_Filter_Max_Range = 331.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 248.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.818003 meters # Minimum depth: 1961.129412 meters looking forward 100.000000 meters along route # Maximum depth: 2005.739555 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.129412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663863; longitude = -122.784399; captureRadius = 10; duration = 110; initialDepth = 1916.129412; finalDepth = 1987.963342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6101430000001 # Actual altitude: 89.6101430000001 # Commanded vehicle depth:1916.129412 # Seafloor depth:-2005.739555 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 358.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 358.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.817516 meters # Minimum depth: 1943.178898 meters looking forward 100.000000 meters along route # Maximum depth: 1957.589173 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.178898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664555; longitude = -122.783516; captureRadius = 10; duration = 110; initialDepth = 1898.178898; finalDepth = 1916.129412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.6101430000001 # Actual altitude: 89.6101430000001 # Commanded vehicle depth:1898.178898 # Seafloor depth:-1957.589173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 358.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.84; MB_Bottom_Detect_Filter_Max_Range = 358.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.83; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.817028 meters # Minimum depth: 1937.934164 meters looking forward 100.000000 meters along route # Maximum depth: 1963.915505 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.934164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665247; longitude = -122.782633; captureRadius = 10; duration = 110; initialDepth = 1892.934164; finalDepth = 1898.178898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.4102750000002 # Actual altitude: 59.4102750000002 # Commanded vehicle depth:1892.934164 # Seafloor depth:-1937.934164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.76; MB_Bottom_Detect_Filter_Max_Range = 237.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 178.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.816542 meters # Minimum depth: 1951.057510 meters looking forward 100.000000 meters along route # Maximum depth: 1962.950520 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1906.057510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665939; longitude = -122.781750; captureRadius = 10; duration = 110; initialDepth = 1906.057510; finalDepth = 1892.934164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.89301 # Actual altitude: 56.89301 # Commanded vehicle depth:1906.05751 # Seafloor depth:-1962.950520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 227.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.816054 meters # Minimum depth: 1925.132987 meters looking forward 100.000000 meters along route # Maximum depth: 1964.170061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.132987 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666631; longitude = -122.780867; captureRadius = 10; duration = 110; initialDepth = 1880.132987; finalDepth = 1906.057510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.89301 # Actual altitude: 56.89301 # Commanded vehicle depth:1880.132987 # Seafloor depth:-1925.132987 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.76; MB_Bottom_Detect_Filter_Max_Range = 227.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 113.683507 meters # Minimum depth: 1973.023214 meters looking forward 100.000000 meters along route # Maximum depth: 2003.249602 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1928.023214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667323; longitude = -122.779984; captureRadius = 10; duration = 113; initialDepth = 1928.023214; finalDepth = 1880.132987; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1928.023214 # Seafloor depth:-1973.023214 # 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 107.947141 meters # Minimum depth: 2003.866510 meters looking forward 100.000000 meters along route # Maximum depth: 2023.514263 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1958.866510 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668033; longitude = -122.779078; captureRadius = 10; duration = 107; initialDepth = 1958.866510; finalDepth = 1928.023214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1958.86651 # Seafloor depth:-2003.866510 # 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 110.814593 meters # Minimum depth: 2001.353124 meters looking forward 100.000000 meters along route # Maximum depth: 2024.078444 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1956.353124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668708; longitude = -122.778218; captureRadius = 10; duration = 110; initialDepth = 1956.353124; finalDepth = 1958.866510; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.72532 # Actual altitude: 67.72532 # Commanded vehicle depth:1956.353124 # Seafloor depth:-2024.078444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.90; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.09; MB_Bottom_Detect_Filter_Max_Range = 270.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.814106 meters # Minimum depth: 1970.262118 meters looking forward 100.000000 meters along route # Maximum depth: 2000.681870 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1925.262118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669400; longitude = -122.777335; captureRadius = 10; duration = 110; initialDepth = 1925.262118; finalDepth = 1956.353124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.4197519999998 # Actual altitude: 75.4197519999998 # Commanded vehicle depth:1925.262118 # Seafloor depth:-2000.681870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.17; MB_Bottom_Detect_Filter_Max_Range = 301.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.813619 meters # Minimum depth: 1925.733636 meters looking forward 100.000000 meters along route # Maximum depth: 1959.502941 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1880.733636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670092; longitude = -122.776451; captureRadius = 10; duration = 110; initialDepth = 1880.733636; finalDepth = 1925.262118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.769305 # Actual altitude: 78.769305 # Commanded vehicle depth:1880.733636 # Seafloor depth:-1959.502941 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.813132 meters # Minimum depth: 1898.262346 meters looking forward 100.000000 meters along route # Maximum depth: 1919.861496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1853.262346 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670784; longitude = -122.775568; captureRadius = 10; duration = 110; initialDepth = 1853.262346; finalDepth = 1880.733636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 78.769305 # Actual altitude: 78.769305 # Commanded vehicle depth:1853.262346 # Seafloor depth:-1919.861496 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 315.08; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.51; MB_Bottom_Detect_Filter_Max_Range = 315.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 236.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.812645 meters # Minimum depth: 1874.639082 meters looking forward 100.000000 meters along route # Maximum depth: 1890.961336 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1829.639082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671476; longitude = -122.774685; captureRadius = 10; duration = 110; initialDepth = 1829.639082; finalDepth = 1853.262346; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.59915 # Actual altitude: 66.59915 # Commanded vehicle depth:1829.639082 # Seafloor depth:-1890.961336 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 266.40; 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 = 266.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.80; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 115.681065 meters # Minimum depth: 1843.024934 meters looking forward 100.000000 meters along route # Maximum depth: 1867.849163 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1798.024934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672168; longitude = -122.773802; captureRadius = 10; duration = 115; initialDepth = 1798.024934; finalDepth = 1829.639082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8242290000001 # Actual altitude: 69.8242290000001 # Commanded vehicle depth:1798.024934 # Seafloor depth:-1867.849163 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.93; MB_Bottom_Detect_Filter_Max_Range = 279.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 105.942764 meters # Minimum depth: 1823.096656 meters looking forward 100.000000 meters along route # Maximum depth: 1841.441220 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1778.096656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672890; longitude = -122.772880; captureRadius = 10; duration = 105; initialDepth = 1778.096656; finalDepth = 1798.024934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.8242290000001 # Actual altitude: 69.8242290000001 # Commanded vehicle depth:1778.096656 # Seafloor depth:-1841.441220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.93; MB_Bottom_Detect_Filter_Max_Range = 279.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.811184 meters # Minimum depth: 1799.912467 meters looking forward 100.000000 meters along route # Maximum depth: 1811.459919 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.912467 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673552; longitude = -122.772036; captureRadius = 10; duration = 110; initialDepth = 1754.912467; finalDepth = 1778.096656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.344564 # Actual altitude: 63.344564 # Commanded vehicle depth:1754.912467 # Seafloor depth:-1811.459919 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.34; MB_Bottom_Detect_Filter_Max_Range = 253.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.810698 meters # Minimum depth: 1799.791387 meters looking forward 100.000000 meters along route # Maximum depth: 1800.099605 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1754.791387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674244; longitude = -122.771153; captureRadius = 10; duration = 110; initialDepth = 1754.791387; finalDepth = 1754.912467; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5474519999998 # Actual altitude: 56.5474519999998 # Commanded vehicle depth:1754.791387 # Seafloor depth:-1799.987804 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.810210 meters # Minimum depth: 1792.808797 meters looking forward 100.000000 meters along route # Maximum depth: 1797.134430 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1747.808797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674936; longitude = -122.770270; captureRadius = 10; duration = 110; initialDepth = 1747.808797; finalDepth = 1754.791387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.012418 # Actual altitude: 50 # Commanded vehicle depth:1747.808797 # Seafloor depth:-1794.821215 # 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 110.809723 meters # Minimum depth: 1793.245733 meters looking forward 100.000000 meters along route # Maximum depth: 1795.856825 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1748.245733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675628; longitude = -122.769386; captureRadius = 10; duration = 110; initialDepth = 1748.245733; finalDepth = 1747.808797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6110920000001 # Actual altitude: 50 # Commanded vehicle depth:1748.245733 # Seafloor depth:-1795.856825 # 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 110.809236 meters # Minimum depth: 1733.351579 meters looking forward 100.000000 meters along route # Maximum depth: 1750.914041 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.351579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676321; longitude = -122.768503; captureRadius = 10; duration = 110; initialDepth = 1688.351579; finalDepth = 1748.245733; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.5624620000001 # Actual altitude: 62.5624620000001 # Commanded vehicle depth:1688.351579 # Seafloor depth:-1750.914041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 250.25; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.02; MB_Bottom_Detect_Filter_Max_Range = 250.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 117.678498 meters # Minimum depth: 1679.791949 meters looking forward 100.000000 meters along route # Maximum depth: 1727.488859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1634.791949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677013; longitude = -122.767620; captureRadius = 10; duration = 117; initialDepth = 1634.791949; finalDepth = 1688.351579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.6969100000001 # Actual altitude: 92.6969100000001 # Commanded vehicle depth:1634.791949 # Seafloor depth:-1727.488859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.08; MB_Bottom_Detect_Filter_Max_Range = 370.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 103.938514 meters # Minimum depth: 1632.734311 meters looking forward 100.000000 meters along route # Maximum depth: 1676.018249 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1587.734311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677748; longitude = -122.766682; captureRadius = 10; duration = 103; initialDepth = 1587.734311; finalDepth = 1634.791949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 92.6969100000001 # Actual altitude: 92.6969100000001 # Commanded vehicle depth:1587.734311 # Seafloor depth:-1676.018249 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 370.79; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.08; MB_Bottom_Detect_Filter_Max_Range = 370.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 278.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.807775 meters # Minimum depth: 1554.928281 meters looking forward 100.000000 meters along route # Maximum depth: 1614.847641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1509.928281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678397; longitude = -122.765854; captureRadius = 10; duration = 110; initialDepth = 1509.928281; finalDepth = 1587.734311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.91936 # Actual altitude: 100 # Commanded vehicle depth:1509.928281 # Seafloor depth:-1614.847641 # 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 110.807289 meters # Minimum depth: 1534.002295 meters looking forward 100.000000 meters along route # Maximum depth: 1553.746763 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1489.002295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679089; longitude = -122.764971; captureRadius = 10; duration = 110; initialDepth = 1489.002295; finalDepth = 1509.928281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.91936 # Actual altitude: 100 # Commanded vehicle depth:1489.002295 # Seafloor depth:-1553.746763 # 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 110.806801 meters # Minimum depth: 1481.821084 meters looking forward 100.000000 meters along route # Maximum depth: 1500.781105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.821084 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679781; longitude = -122.764088; captureRadius = 10; duration = 110; initialDepth = 1436.821084; finalDepth = 1489.002295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.7444680000001 # Actual altitude: 64.7444680000001 # Commanded vehicle depth:1436.821084 # Seafloor depth:-1500.781105 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.98; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.90; MB_Bottom_Detect_Filter_Max_Range = 258.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.806315 meters # Minimum depth: 1481.133984 meters looking forward 100.000000 meters along route # Maximum depth: 1486.098541 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1436.133984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680473; longitude = -122.763205; captureRadius = 10; duration = 110; initialDepth = 1436.133984; finalDepth = 1436.821084; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.9600210000001 # Actual altitude: 63.9600210000001 # Commanded vehicle depth:1436.133984 # Seafloor depth:-1481.133984 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.84; 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 = 255.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 110.805828 meters # Minimum depth: 1505.831521 meters looking forward 100.000000 meters along route # Maximum depth: 1523.067448 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1460.831521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681165; longitude = -122.762322; captureRadius = 10; duration = 110; initialDepth = 1460.831521; finalDepth = 1436.133984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1460.831521 # Seafloor depth:-1505.831521 # 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 119.675810 meters # Minimum depth: 1526.816031 meters looking forward 100.000000 meters along route # Maximum depth: 1545.472966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1481.816031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681857; longitude = -122.761438; captureRadius = 10; duration = 119; initialDepth = 1481.816031; finalDepth = 1460.831521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1481.816031 # Seafloor depth:-1526.816031 # 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 101.934385 meters # Minimum depth: 1547.978780 meters looking forward 100.000000 meters along route # Maximum depth: 1567.945678 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1502.978780 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682605; longitude = -122.760485; captureRadius = 10; duration = 101; initialDepth = 1502.978780; finalDepth = 1481.816031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1502.97878 # Seafloor depth:-1547.978780 # 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 110.804367 meters # Minimum depth: 1584.448416 meters looking forward 100.000000 meters along route # Maximum depth: 1636.800419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1539.448416 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683241; longitude = -122.759672; captureRadius = 10; duration = 110; initialDepth = 1539.448416; finalDepth = 1502.978780; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1539.448416 # Seafloor depth:-1584.448416 # 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 140.729835 meters # Minimum depth: 1630.572485 meters looking forward 100.000000 meters along route # Maximum depth: 1636.945052 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1585.572485 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683934; longitude = -122.758789; captureRadius = 10; duration = 140; initialDepth = 1585.572485; finalDepth = 1539.448416; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3725670000001 # Actual altitude: 51.3725670000001 # Commanded vehicle depth:1585.572485 # Seafloor depth:-1636.945052 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 117.751595 meters # Minimum depth: 1619.787477 meters looking forward 100.000000 meters along route # Maximum depth: 1634.865207 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1574.787477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684813; longitude = -122.757667; captureRadius = 10; duration = 117; initialDepth = 1574.787477; finalDepth = 1585.572485; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.07773 # Actual altitude: 60.07773 # Commanded vehicle depth:1574.787477 # Seafloor depth:-1634.865207 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 240.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 15.736348 meters # Minimum depth: 1618.484009 meters looking forward 100.000000 meters along route # Maximum depth: 1624.109117 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1573.484009 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685548; longitude = -122.756729; captureRadius = 10; duration = 15; initialDepth = 1573.484009; finalDepth = 1574.787477; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.07773 # Actual altitude: 60.07773 # Commanded vehicle depth:1573.484009 # Seafloor depth:-1618.484009 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.03; MB_Bottom_Detect_Filter_Max_Range = 240.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 145.927219 meters # Minimum depth: 1597.933991 meters looking forward 100.000000 meters along route # Maximum depth: 1630.044124 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.933991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.685473; longitude = -122.756581; captureRadius = 10; duration = 145; initialDepth = 1552.933991; finalDepth = 1573.484009; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1101329999999 # Actual altitude: 77.1101329999999 # Commanded vehicle depth:1552.933991 # Seafloor depth:-1630.044124 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 308.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 5.620071 meters # Minimum depth: 1583.640869 meters looking forward 100.000000 meters along route # Maximum depth: 1616.269033 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1538.640869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684778; longitude = -122.755212; captureRadius = 10; duration = 5; initialDepth = 1538.640869; finalDepth = 1552.933991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.1101329999999 # Actual altitude: 77.1101329999999 # Commanded vehicle depth:1538.640869 # Seafloor depth:-1583.640869 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 308.44; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.84; MB_Bottom_Detect_Filter_Max_Range = 308.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 231.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.121560 meters # Minimum depth: 1597.494306 meters looking forward 100.000000 meters along route # Maximum depth: 1617.179159 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1552.494306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684743; longitude = -122.755257; captureRadius = 10; duration = 111; initialDepth = 1552.494306; finalDepth = 1538.640869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1552.494306 # Seafloor depth:-1597.494306 # 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 111.122048 meters # Minimum depth: 1637.876549 meters looking forward 100.000000 meters along route # Maximum depth: 1657.686642 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1592.876549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.684047; longitude = -122.756140; captureRadius = 10; duration = 111; initialDepth = 1592.876549; finalDepth = 1552.494306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1592.876549 # Seafloor depth:-1637.876549 # 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 119.008087 meters # Minimum depth: 1640.554383 meters looking forward 100.000000 meters along route # Maximum depth: 1658.838222 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.554383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683350; longitude = -122.757023; captureRadius = 10; duration = 119; initialDepth = 1595.554383; finalDepth = 1592.876549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.39958 # Actual altitude: 54.39958 # Commanded vehicle depth:1595.554383 # Seafloor depth:-1649.953963 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.60; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 103.237474 meters # Minimum depth: 1640.393189 meters looking forward 100.000000 meters along route # Maximum depth: 1660.100855 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1595.393189 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682605; longitude = -122.757969; captureRadius = 10; duration = 103; initialDepth = 1595.393189; finalDepth = 1595.554383; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.707666 # Actual altitude: 64.707666 # Commanded vehicle depth:1595.393189 # Seafloor depth:-1660.100855 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.83; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.88; MB_Bottom_Detect_Filter_Max_Range = 258.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 194.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.123512 meters # Minimum depth: 1603.335678 meters looking forward 100.000000 meters along route # Maximum depth: 1627.558006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1558.335678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681958; longitude = -122.758789; captureRadius = 10; duration = 111; initialDepth = 1558.335678; finalDepth = 1595.393189; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2223280000001 # Actual altitude: 69.2223280000001 # Commanded vehicle depth:1558.335678 # Seafloor depth:-1627.558006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 276.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.124001 meters # Minimum depth: 1609.705470 meters looking forward 100.000000 meters along route # Maximum depth: 1622.471279 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.705470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681262; longitude = -122.759672; captureRadius = 10; duration = 111; initialDepth = 1564.705470; finalDepth = 1558.335678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2223280000001 # Actual altitude: 69.2223280000001 # Commanded vehicle depth:1564.70547 # Seafloor depth:-1609.705470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.69; MB_Bottom_Detect_Filter_Max_Range = 276.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.124490 meters # Minimum depth: 1587.863575 meters looking forward 100.000000 meters along route # Maximum depth: 1612.920835 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1542.863575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680565; longitude = -122.760555; captureRadius = 10; duration = 111; initialDepth = 1542.863575; finalDepth = 1564.705470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0572599999998 # Actual altitude: 70.0572599999998 # Commanded vehicle depth:1542.863575 # Seafloor depth:-1612.920835 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.02; MB_Bottom_Detect_Filter_Max_Range = 280.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.124977 meters # Minimum depth: 1567.364994 meters looking forward 100.000000 meters along route # Maximum depth: 1582.993224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1522.364994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679869; longitude = -122.761438; captureRadius = 10; duration = 111; initialDepth = 1522.364994; finalDepth = 1542.863575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.0572599999998 # Actual altitude: 70.0572599999998 # Commanded vehicle depth:1522.364994 # Seafloor depth:-1582.993224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 280.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.02; MB_Bottom_Detect_Filter_Max_Range = 280.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.125466 meters # Minimum depth: 1543.067793 meters looking forward 100.000000 meters along route # Maximum depth: 1556.213137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1498.067793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679173; longitude = -122.762322; captureRadius = 10; duration = 111; initialDepth = 1498.067793; finalDepth = 1522.364994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.62823 # Actual altitude: 60.62823 # Commanded vehicle depth:1498.067793 # Seafloor depth:-1556.213137 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 242.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.25; MB_Bottom_Detect_Filter_Max_Range = 242.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 116.393040 meters # Minimum depth: 1550.728421 meters looking forward 100.000000 meters along route # Maximum depth: 1610.563333 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1505.728421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678477; longitude = -122.763205; captureRadius = 10; duration = 116; initialDepth = 1505.728421; finalDepth = 1498.067793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.145344 # Actual altitude: 58.145344 # Commanded vehicle depth:1505.728421 # Seafloor depth:-1550.728421 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 232.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.26; MB_Bottom_Detect_Filter_Max_Range = 232.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 174.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 105.859357 meters # Minimum depth: 1613.406971 meters looking forward 100.000000 meters along route # Maximum depth: 1645.541497 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1568.406971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677748; longitude = -122.764130; captureRadius = 10; duration = 105; initialDepth = 1568.406971; finalDepth = 1505.728421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1568.406971 # Seafloor depth:-1613.406971 # 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 111.126930 meters # Minimum depth: 1652.904335 meters looking forward 100.000000 meters along route # Maximum depth: 1676.775053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1607.904335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677084; longitude = -122.764971; captureRadius = 10; duration = 111; initialDepth = 1607.904335; finalDepth = 1568.406971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1607.904335 # Seafloor depth:-1652.904335 # 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 111.127420 meters # Minimum depth: 1677.685876 meters looking forward 100.000000 meters along route # Maximum depth: 1699.251656 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1632.685876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676388; longitude = -122.765854; captureRadius = 10; duration = 111; initialDepth = 1632.685876; finalDepth = 1607.904335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1632.685876 # Seafloor depth:-1677.685876 # 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 111.127907 meters # Minimum depth: 1715.571970 meters looking forward 100.000000 meters along route # Maximum depth: 1778.582388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1670.571970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675692; longitude = -122.766737; captureRadius = 10; duration = 111; initialDepth = 1670.571970; finalDepth = 1632.685876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1670.57197 # Seafloor depth:-1715.571970 # 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 111.128396 meters # Minimum depth: 1787.759315 meters looking forward 100.000000 meters along route # Maximum depth: 1810.837511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1742.759315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674996; longitude = -122.767620; captureRadius = 10; duration = 111; initialDepth = 1742.759315; finalDepth = 1670.571970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1742.759315 # Seafloor depth:-1787.759315 # 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 111.128884 meters # Minimum depth: 1850.245276 meters looking forward 100.000000 meters along route # Maximum depth: 1874.532398 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1805.245276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674300; longitude = -122.768503; captureRadius = 10; duration = 111; initialDepth = 1805.245276; finalDepth = 1742.759315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1805.245276 # Seafloor depth:-1850.245276 # 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 113.777831 meters # Minimum depth: 1878.216608 meters looking forward 100.000000 meters along route # Maximum depth: 1884.111748 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1833.216608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673603; longitude = -122.769386; captureRadius = 10; duration = 113; initialDepth = 1833.216608; finalDepth = 1805.245276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1833.216608 # Seafloor depth:-1878.216608 # 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 108.481402 meters # Minimum depth: 1883.946086 meters looking forward 100.000000 meters along route # Maximum depth: 1894.204751 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1838.946086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672890; longitude = -122.770291; captureRadius = 10; duration = 108; initialDepth = 1838.946086; finalDepth = 1833.216608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1838.946086 # Seafloor depth:-1883.946086 # 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 111.130350 meters # Minimum depth: 1913.583771 meters looking forward 100.000000 meters along route # Maximum depth: 1942.533502 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1868.583771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672211; longitude = -122.771153; captureRadius = 10; duration = 111; initialDepth = 1868.583771; finalDepth = 1838.946086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1868.583771 # Seafloor depth:-1913.583771 # 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 111.130837 meters # Minimum depth: 1943.305547 meters looking forward 100.000000 meters along route # Maximum depth: 1959.731658 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1898.305547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671515; longitude = -122.772036; captureRadius = 10; duration = 111; initialDepth = 1898.305547; finalDepth = 1868.583771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1898.305547 # Seafloor depth:-1943.305547 # 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 111.131326 meters # Minimum depth: 1975.604811 meters looking forward 100.000000 meters along route # Maximum depth: 1982.716324 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1930.604811 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670818; longitude = -122.772919; captureRadius = 10; duration = 111; initialDepth = 1930.604811; finalDepth = 1898.305547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1930.604811 # Seafloor depth:-1975.604811 # 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 121.978633 meters # Minimum depth: 1987.859596 meters looking forward 100.000000 meters along route # Maximum depth: 2007.111274 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1942.859596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670122; longitude = -122.773802; captureRadius = 10; duration = 121; initialDepth = 1942.859596; finalDepth = 1930.604811; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1942.859596 # Seafloor depth:-1987.859596 # 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 100.285485 meters # Minimum depth: 2010.811970 meters looking forward 100.000000 meters along route # Maximum depth: 2033.491803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1965.811970 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669358; longitude = -122.774771; captureRadius = 10; duration = 100; initialDepth = 1965.811970; finalDepth = 1942.859596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1965.81197 # Seafloor depth:-2010.811970 # 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 111.162462 meters # Minimum depth: 2041.847137 meters looking forward 100.000000 meters along route # Maximum depth: 2079.411925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1996.847137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668730; longitude = -122.775568; captureRadius = 10; duration = 111; initialDepth = 1996.847137; finalDepth = 1965.811970; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1996.847137 # Seafloor depth:-2041.847137 # 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 111.103609 meters # Minimum depth: 2079.418828 meters looking forward 100.000000 meters along route # Maximum depth: 2091.214944 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2034.418828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668033; longitude = -122.776452; captureRadius = 10; duration = 111; initialDepth = 2034.418828; finalDepth = 1996.847137; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2034.418828 # Seafloor depth:-2079.418828 # 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 111.133768 meters # Minimum depth: 2067.716943 meters looking forward 100.000000 meters along route # Maximum depth: 2091.295066 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2022.716943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667337; longitude = -122.777335; captureRadius = 10; duration = 111; initialDepth = 2022.716943; finalDepth = 2034.418828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5781230000002 # Actual altitude: 68.5781230000002 # Commanded vehicle depth:2022.716943 # Seafloor depth:-2091.295066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.134257 meters # Minimum depth: 2057.393511 meters looking forward 100.000000 meters along route # Maximum depth: 2067.768885 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2012.393511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666641; longitude = -122.778218; captureRadius = 10; duration = 111; initialDepth = 2012.393511; finalDepth = 2022.716943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.5781230000002 # Actual altitude: 68.5781230000002 # Commanded vehicle depth:2012.393511 # Seafloor depth:-2067.768885 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 274.31; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.43; MB_Bottom_Detect_Filter_Max_Range = 274.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.134745 meters # Minimum depth: 1985.051714 meters looking forward 100.000000 meters along route # Maximum depth: 2035.203040 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1940.051714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665945; longitude = -122.779101; captureRadius = 10; duration = 111; initialDepth = 1940.051714; finalDepth = 2012.393511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.1513260000002 # Actual altitude: 95.1513260000002 # Commanded vehicle depth:1940.051714 # Seafloor depth:-2035.203040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 380.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.06; MB_Bottom_Detect_Filter_Max_Range = 380.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 119.363459 meters # Minimum depth: 1987.385200 meters looking forward 100.000000 meters along route # Maximum depth: 2019.166176 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1942.385200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665249; longitude = -122.779984; captureRadius = 10; duration = 119; initialDepth = 1942.385200; finalDepth = 1940.051714; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.1513260000002 # Actual altitude: 95.1513260000002 # Commanded vehicle depth:1942.3852 # Seafloor depth:-1987.385200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 380.61; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.06; MB_Bottom_Detect_Filter_Max_Range = 380.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 102.907498 meters # Minimum depth: 2004.335045 meters looking forward 100.000000 meters along route # Maximum depth: 2019.480509 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1959.335045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664501; longitude = -122.780932; captureRadius = 10; duration = 102; initialDepth = 1959.335045; finalDepth = 1942.385200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.1454639999999 # Actual altitude: 60.1454639999999 # Commanded vehicle depth:1959.335045 # Seafloor depth:-2019.480509 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 240.58; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.06; MB_Bottom_Detect_Filter_Max_Range = 240.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.136210 meters # Minimum depth: 1962.643056 meters looking forward 100.000000 meters along route # Maximum depth: 1993.139409 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1917.643056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663856; longitude = -122.781750; captureRadius = 10; duration = 111; initialDepth = 1917.643056; finalDepth = 1959.335045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.496353 # Actual altitude: 75.496353 # Commanded vehicle depth:1917.643056 # Seafloor depth:-1993.139409 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.136700 meters # Minimum depth: 1952.781433 meters looking forward 100.000000 meters along route # Maximum depth: 1962.066403 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1907.781433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663160; longitude = -122.782633; captureRadius = 10; duration = 111; initialDepth = 1907.781433; finalDepth = 1917.643056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.496353 # Actual altitude: 75.496353 # Commanded vehicle depth:1907.781433 # Seafloor depth:-1962.066403 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 301.99; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.20; MB_Bottom_Detect_Filter_Max_Range = 301.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.137188 meters # Minimum depth: 1961.717497 meters looking forward 100.000000 meters along route # Maximum depth: 1977.103142 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.717497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662464; longitude = -122.783516; captureRadius = 10; duration = 111; initialDepth = 1916.717497; finalDepth = 1907.781433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.2849699999999 # Actual altitude: 54.2849699999999 # Commanded vehicle depth:1916.717497 # Seafloor depth:-1961.717497 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.14; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.71; MB_Bottom_Detect_Filter_Max_Range = 217.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 111.137676 meters # Minimum depth: 1979.156795 meters looking forward 100.000000 meters along route # Maximum depth: 1999.966383 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1934.156795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661768; longitude = -122.784399; captureRadius = 10; duration = 111; initialDepth = 1934.156795; finalDepth = 1916.717497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1934.156795 # Seafloor depth:-1979.156795 # 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 111.138165 meters # Minimum depth: 2010.779118 meters looking forward 100.000000 meters along route # Maximum depth: 2020.399749 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1965.779118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661071; longitude = -122.785283; captureRadius = 10; duration = 111; initialDepth = 1965.779118; finalDepth = 1934.156795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1965.779118 # Seafloor depth:-2010.779118 # 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 116.748124 meters # Minimum depth: 2022.735595 meters looking forward 100.000000 meters along route # Maximum depth: 2034.388330 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1977.735595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660375; longitude = -122.786166; captureRadius = 10; duration = 116; initialDepth = 1977.735595; finalDepth = 1965.779118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1977.735595 # Seafloor depth:-2022.735595 # 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 105.529672 meters # Minimum depth: 2036.289880 meters looking forward 100.000000 meters along route # Maximum depth: 2064.079050 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1991.289880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659644; longitude = -122.787093; captureRadius = 10; duration = 105; initialDepth = 1991.289880; finalDepth = 1977.735595; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1991.28988 # Seafloor depth:-2036.289880 # 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 111.139631 meters # Minimum depth: 2077.244563 meters looking forward 100.000000 meters along route # Maximum depth: 2126.010490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2032.244563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658983; longitude = -122.787932; captureRadius = 10; duration = 111; initialDepth = 2032.244563; finalDepth = 1991.289880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2032.244563 # Seafloor depth:-2077.244563 # 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 111.140119 meters # Minimum depth: 2128.226376 meters looking forward 100.000000 meters along route # Maximum depth: 2146.462914 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2083.226376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658286; longitude = -122.788815; captureRadius = 10; duration = 111; initialDepth = 2083.226376; finalDepth = 2032.244563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2083.226376 # Seafloor depth:-2128.226376 # 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 124.077513 meters # Minimum depth: 2164.244909 meters looking forward 100.000000 meters along route # Maximum depth: 2232.623189 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2119.244909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657590; longitude = -122.789698; captureRadius = 10; duration = 124; initialDepth = 2119.244909; finalDepth = 2083.226376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2119.244909 # Seafloor depth:-2164.244909 # 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 40.121835 meters # Minimum depth: 2219.825377 meters looking forward 100.000000 meters along route # Maximum depth: 2245.364136 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2174.825377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656813; longitude = -122.790684; captureRadius = 10; duration = 40; initialDepth = 2174.825377; finalDepth = 2119.244909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.538759 # Actual altitude: 70.538759 # Commanded vehicle depth:2174.825377 # Seafloor depth:-2245.364136 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.22; MB_Bottom_Detect_Filter_Max_Range = 282.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 129.853703 meters # Minimum depth: 2179.416160 meters looking forward 100.000000 meters along route # Maximum depth: 2234.431496 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2134.416160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656553; longitude = -122.790376; captureRadius = 10; duration = 129; initialDepth = 2134.416160; finalDepth = 2174.825377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.015336 # Actual altitude: 100 # Commanded vehicle depth:2134.41616 # Seafloor depth:-2234.431496 # behavior reson { duration = 6; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 70.930681 meters # Minimum depth: 2158.852217 meters looking forward 100.000000 meters along route # Maximum depth: 2178.413696 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2113.852217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.655711; longitude = -122.789379; captureRadius = 10; duration = 70; initialDepth = 2113.852217; finalDepth = 2134.416160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.015336 # Actual altitude: 100 # Commanded vehicle depth:2113.852217 # Seafloor depth:-2178.413696 # 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 111.058766 meters # Minimum depth: 2119.971299 meters looking forward 100.000000 meters along route # Maximum depth: 2155.940188 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2074.971299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656155; longitude = -122.788815; captureRadius = 10; duration = 111; initialDepth = 2074.971299; finalDepth = 2113.852217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9688890000002 # Actual altitude: 80.9688890000002 # Commanded vehicle depth:2074.971299 # Seafloor depth:-2155.940188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 323.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 323.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.058277 meters # Minimum depth: 2082.322393 meters looking forward 100.000000 meters along route # Maximum depth: 2107.010539 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2037.322393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.656850; longitude = -122.787932; captureRadius = 10; duration = 111; initialDepth = 2037.322393; finalDepth = 2074.971299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.9688890000002 # Actual altitude: 80.9688890000002 # Commanded vehicle depth:2037.322393 # Seafloor depth:-2107.010539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 323.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.39; MB_Bottom_Detect_Filter_Max_Range = 323.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 242.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.057789 meters # Minimum depth: 2072.092990 meters looking forward 100.000000 meters along route # Maximum depth: 2076.277627 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2027.092990 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.657545; longitude = -122.787049; captureRadius = 10; duration = 111; initialDepth = 2027.092990; finalDepth = 2037.322393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.688146 # Actual altitude: 69.688146 # Commanded vehicle depth:2027.09299 # Seafloor depth:-2076.277627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 278.75; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.88; MB_Bottom_Detect_Filter_Max_Range = 278.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.057301 meters # Minimum depth: 2026.124048 meters looking forward 100.000000 meters along route # Maximum depth: 2053.272590 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1981.124048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658240; longitude = -122.786166; captureRadius = 10; duration = 111; initialDepth = 1981.124048; finalDepth = 2027.092990; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.1485420000001 # Actual altitude: 72.1485420000001 # Commanded vehicle depth:1981.124048 # Seafloor depth:-2053.272590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 288.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.86; MB_Bottom_Detect_Filter_Max_Range = 288.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 216.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 113.142453 meters # Minimum depth: 1961.377865 meters looking forward 100.000000 meters along route # Maximum depth: 2014.762126 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1916.377865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.658936; longitude = -122.785283; captureRadius = 10; duration = 113; initialDepth = 1916.377865; finalDepth = 1981.124048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.3842610000002 # Actual altitude: 98.3842610000002 # Commanded vehicle depth:1916.377865 # Seafloor depth:-2014.762126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 393.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.35; MB_Bottom_Detect_Filter_Max_Range = 393.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 108.970685 meters # Minimum depth: 1949.549670 meters looking forward 100.000000 meters along route # Maximum depth: 1960.468521 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1904.549670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.659644; longitude = -122.784383; captureRadius = 10; duration = 108; initialDepth = 1904.549670; finalDepth = 1916.377865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.3842610000002 # Actual altitude: 98.3842610000002 # Commanded vehicle depth:1904.54967 # Seafloor depth:-1960.468521 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 393.54; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.35; MB_Bottom_Detect_Filter_Max_Range = 393.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 295.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.055836 meters # Minimum depth: 1937.615590 meters looking forward 100.000000 meters along route # Maximum depth: 1953.615256 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1892.615590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.660326; longitude = -122.783516; captureRadius = 10; duration = 111; initialDepth = 1892.615590; finalDepth = 1904.549670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.9188509999999 # Actual altitude: 55.9188509999999 # Commanded vehicle depth:1892.61559 # Seafloor depth:-1937.615590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.37; MB_Bottom_Detect_Filter_Max_Range = 223.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.055349 meters # Minimum depth: 1953.965429 meters looking forward 100.000000 meters along route # Maximum depth: 1960.116859 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1908.965429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661021; longitude = -122.782633; captureRadius = 10; duration = 111; initialDepth = 1908.965429; finalDepth = 1892.615590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1908.965429 # Seafloor depth:-1953.965429 # 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 111.054860 meters # Minimum depth: 1988.673303 meters looking forward 100.000000 meters along route # Maximum depth: 2029.177705 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1943.673303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.661716; longitude = -122.781750; captureRadius = 10; duration = 111; initialDepth = 1943.673303; finalDepth = 1908.965429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1943.673303 # Seafloor depth:-1988.673303 # 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 111.054372 meters # Minimum depth: 2007.161307 meters looking forward 100.000000 meters along route # Maximum depth: 2034.543006 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1962.161307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.662411; longitude = -122.780867; captureRadius = 10; duration = 111; initialDepth = 1962.161307; finalDepth = 1943.673303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.381699 # Actual altitude: 72.381699 # Commanded vehicle depth:1962.161307 # Seafloor depth:-2034.543006 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.53; 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 = 289.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.053884 meters # Minimum depth: 1996.603994 meters looking forward 100.000000 meters along route # Maximum depth: 2027.883137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1951.603994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663106; longitude = -122.779984; captureRadius = 10; duration = 111; initialDepth = 1951.603994; finalDepth = 1962.161307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 72.381699 # Actual altitude: 72.381699 # Commanded vehicle depth:1951.603994 # Seafloor depth:-1997.283122 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 289.53; 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 = 289.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 217.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.713908 meters # Minimum depth: 2030.872583 meters looking forward 100.000000 meters along route # Maximum depth: 2059.437797 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1985.872583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.663802; longitude = -122.779101; captureRadius = 10; duration = 111; initialDepth = 1985.872583; finalDepth = 1951.603994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.679128 # Actual altitude: 50 # Commanded vehicle depth:1985.872583 # Seafloor depth:-2031.548723 # 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 110.392396 meters # Minimum depth: 2059.752170 meters looking forward 100.000000 meters along route # Maximum depth: 2095.243674 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2014.752170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.664501; longitude = -122.778212; captureRadius = 10; duration = 110; initialDepth = 2014.752170; finalDepth = 1985.872583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.67614 # Actual altitude: 50 # Commanded vehicle depth:2014.75217 # Seafloor depth:-2059.752170 # 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 111.052419 meters # Minimum depth: 2108.832766 meters looking forward 100.000000 meters along route # Maximum depth: 2146.066193 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2063.832766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665192; longitude = -122.777335; captureRadius = 10; duration = 111; initialDepth = 2063.832766; finalDepth = 2014.752170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2063.832766 # Seafloor depth:-2108.832766 # 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 111.051932 meters # Minimum depth: 2147.288409 meters looking forward 100.000000 meters along route # Maximum depth: 2147.699511 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2102.288409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.665887; longitude = -122.776451; captureRadius = 10; duration = 111; initialDepth = 2102.288409; finalDepth = 2063.832766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:2102.288409 # Seafloor depth:-2147.288409 # 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 111.051443 meters # Minimum depth: 2130.522370 meters looking forward 100.000000 meters along route # Maximum depth: 2144.101493 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2085.522370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.666582; longitude = -122.775568; captureRadius = 10; duration = 111; initialDepth = 2085.522370; finalDepth = 2102.288409; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.579123 # Actual altitude: 58.579123 # Commanded vehicle depth:2085.52237 # Seafloor depth:-2144.101493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 234.32; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.43; MB_Bottom_Detect_Filter_Max_Range = 234.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 120.770584 meters # Minimum depth: 2107.559546 meters looking forward 100.000000 meters along route # Maximum depth: 2126.752991 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2062.559546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.667277; longitude = -122.774685; captureRadius = 10; duration = 120; initialDepth = 2062.559546; finalDepth = 2085.522370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1934449999999 # Actual altitude: 64.1934449999999 # Commanded vehicle depth:2062.559546 # Seafloor depth:-2126.752991 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 256.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 101.330839 meters # Minimum depth: 2093.870908 meters looking forward 100.000000 meters along route # Maximum depth: 2106.106246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2048.870908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668033; longitude = -122.773725; captureRadius = 10; duration = 101; initialDepth = 2048.870908; finalDepth = 2062.559546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.1934449999999 # Actual altitude: 64.1934449999999 # Commanded vehicle depth:2048.870908 # Seafloor depth:-2106.106246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.68; MB_Bottom_Detect_Filter_Max_Range = 256.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.049980 meters # Minimum depth: 2064.070362 meters looking forward 100.000000 meters along route # Maximum depth: 2087.090881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2019.070362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.668668; longitude = -122.772919; captureRadius = 10; duration = 111; initialDepth = 2019.070362; finalDepth = 2048.870908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0205190000001 # Actual altitude: 68.0205190000001 # Commanded vehicle depth:2019.070362 # Seafloor depth:-2087.090881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.08; 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 = 272.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.049491 meters # Minimum depth: 2046.545767 meters looking forward 100.000000 meters along route # Maximum depth: 2063.941837 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 2001.545767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.669363; longitude = -122.772036; captureRadius = 10; duration = 111; initialDepth = 2001.545767; finalDepth = 2019.070362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.0205190000001 # Actual altitude: 68.0205190000001 # Commanded vehicle depth:2001.545767 # Seafloor depth:-2063.941837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 272.08; 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 = 272.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.049004 meters # Minimum depth: 2011.629201 meters looking forward 100.000000 meters along route # Maximum depth: 2036.606232 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1966.629201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670058; longitude = -122.771153; captureRadius = 10; duration = 111; initialDepth = 1966.629201; finalDepth = 2001.545767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9770310000001 # Actual altitude: 69.9770310000001 # Commanded vehicle depth:1966.629201 # Seafloor depth:-2036.606232 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.99; MB_Bottom_Detect_Filter_Max_Range = 279.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.048515 meters # Minimum depth: 1998.763524 meters looking forward 100.000000 meters along route # Maximum depth: 2009.000998 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1953.763524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.670753; longitude = -122.770270; captureRadius = 10; duration = 111; initialDepth = 1953.763524; finalDepth = 1966.629201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.9770310000001 # Actual altitude: 69.9770310000001 # Commanded vehicle depth:1953.763524 # Seafloor depth:-2009.000998 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 279.91; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.99; MB_Bottom_Detect_Filter_Max_Range = 279.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 111.048028 meters # Minimum depth: 1944.545228 meters looking forward 100.000000 meters along route # Maximum depth: 1979.165224 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1899.545228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.671448; longitude = -122.769386; captureRadius = 10; duration = 111; initialDepth = 1899.545228; finalDepth = 1953.763524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 79.6199960000001 # Actual altitude: 79.6199960000001 # Commanded vehicle depth:1899.545228 # Seafloor depth:-1979.165224 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 318.48; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.85; MB_Bottom_Detect_Filter_Max_Range = 318.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 238.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 119.341881 meters # Minimum depth: 1867.867628 meters looking forward 100.000000 meters along route # Maximum depth: 1936.284752 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1822.867628 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672143; longitude = -122.768503; captureRadius = 10; duration = 119; initialDepth = 1822.867628; finalDepth = 1899.545228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.417124 # Actual altitude: 100 # Commanded vehicle depth:1822.867628 # Seafloor depth:-1936.284752 # 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 102.752710 meters # Minimum depth: 1826.480052 meters looking forward 100.000000 meters along route # Maximum depth: 1863.177400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1781.480052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.672890; longitude = -122.767554; captureRadius = 10; duration = 102; initialDepth = 1781.480052; finalDepth = 1822.867628; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 113.417124 # Actual altitude: 100 # Commanded vehicle depth:1781.480052 # Seafloor depth:-1863.177400 # 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 111.046563 meters # Minimum depth: 1733.060094 meters looking forward 100.000000 meters along route # Maximum depth: 1802.948341 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1688.060094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.673534; longitude = -122.766737; captureRadius = 10; duration = 111; initialDepth = 1688.060094; finalDepth = 1781.480052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.888247 # Actual altitude: 100 # Commanded vehicle depth:1688.060094 # Seafloor depth:-1802.948341 # 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 111.046076 meters # Minimum depth: 1691.090236 meters looking forward 100.000000 meters along route # Maximum depth: 1731.265682 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1646.090236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674229; longitude = -122.765854; captureRadius = 10; duration = 111; initialDepth = 1646.090236; finalDepth = 1688.060094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 114.888247 # Actual altitude: 100 # Commanded vehicle depth:1646.090236 # Seafloor depth:-1731.265682 # 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 111.045588 meters # Minimum depth: 1612.924794 meters looking forward 100.000000 meters along route # Maximum depth: 1670.314518 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1567.924794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.674924; longitude = -122.764971; captureRadius = 10; duration = 111; initialDepth = 1567.924794; finalDepth = 1646.090236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.389724 # Actual altitude: 100 # Commanded vehicle depth:1567.924794 # Seafloor depth:-1670.314518 # 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 111.045100 meters # Minimum depth: 1595.501307 meters looking forward 100.000000 meters along route # Maximum depth: 1607.618551 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1550.501307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.675619; longitude = -122.764088; captureRadius = 10; duration = 111; initialDepth = 1550.501307; finalDepth = 1567.924794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.389724 # Actual altitude: 100 # Commanded vehicle depth:1550.501307 # Seafloor depth:-1607.618551 # 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 111.044612 meters # Minimum depth: 1612.046024 meters looking forward 100.000000 meters along route # Maximum depth: 1633.729850 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1567.046024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.676314; longitude = -122.763205; captureRadius = 10; duration = 111; initialDepth = 1567.046024; finalDepth = 1550.501307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6072059999999 # Actual altitude: 65.6072059999999 # Commanded vehicle depth:1567.046024 # Seafloor depth:-1632.653230 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.43; 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 = 262.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 117.913266 meters # Minimum depth: 1609.236319 meters looking forward 100.000000 meters along route # Maximum depth: 1628.321227 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1564.236319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677009; longitude = -122.762322; captureRadius = 10; duration = 117; initialDepth = 1564.236319; finalDepth = 1567.046024; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.6072059999999 # Actual altitude: 65.6072059999999 # Commanded vehicle depth:1564.236319 # Seafloor depth:-1609.236319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.43; 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 = 262.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 104.174494 meters # Minimum depth: 1629.533837 meters looking forward 100.000000 meters along route # Maximum depth: 1651.636785 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.533837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.677748; longitude = -122.761384; captureRadius = 10; duration = 104; initialDepth = 1584.533837; finalDepth = 1564.236319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1584.533837 # Seafloor depth:-1629.533837 # 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 111.043148 meters # Minimum depth: 1656.091675 meters looking forward 100.000000 meters along route # Maximum depth: 1675.817291 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1611.091675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.678400; longitude = -122.760555; captureRadius = 10; duration = 111; initialDepth = 1611.091675; finalDepth = 1584.533837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1611.091675 # Seafloor depth:-1656.091675 # 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 111.042661 meters # Minimum depth: 1676.443232 meters looking forward 100.000000 meters along route # Maximum depth: 1698.855014 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1631.443232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679095; longitude = -122.759672; captureRadius = 10; duration = 111; initialDepth = 1631.443232; finalDepth = 1611.091675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1631.443232 # Seafloor depth:-1676.443232 # 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 111.042172 meters # Minimum depth: 1701.470144 meters looking forward 100.000000 meters along route # Maximum depth: 1716.280890 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1656.470144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.679790; longitude = -122.758789; captureRadius = 10; duration = 111; initialDepth = 1656.470144; finalDepth = 1631.443232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1656.470144 # Seafloor depth:-1701.470144 # 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 111.041685 meters # Minimum depth: 1722.236804 meters looking forward 100.000000 meters along route # Maximum depth: 1731.805446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1677.236804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.680485; longitude = -122.757906; captureRadius = 10; duration = 111; initialDepth = 1677.236804; finalDepth = 1656.470144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45 # Actual altitude: 50 # Commanded vehicle depth:1677.236804 # Seafloor depth:-1722.236804 # 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 111.041197 meters # Minimum depth: 1699.295304 meters looking forward 100.000000 meters along route # Maximum depth: 1728.585175 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1654.295304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681180; longitude = -122.757023; captureRadius = 10; duration = 111; initialDepth = 1654.295304; finalDepth = 1677.236804; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.2898709999999 # Actual altitude: 74.2898709999999 # Commanded vehicle depth:1654.295304 # Seafloor depth:-1728.585175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 297.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.72; MB_Bottom_Detect_Filter_Max_Range = 297.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 116.484740 meters # Minimum depth: 1629.449879 meters looking forward 100.000000 meters along route # Maximum depth: 1690.916771 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1584.449879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.681875; longitude = -122.756140; captureRadius = 10; duration = 116; initialDepth = 1584.449879; finalDepth = 1654.295304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.466892 # Actual altitude: 100 # Commanded vehicle depth:1584.449879 # Seafloor depth:-1690.916771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 105.596190 meters # Minimum depth: 1607.284631 meters looking forward 100.000000 meters along route # Maximum depth: 1628.050017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1562.284631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.682605; longitude = -122.755213; captureRadius = 10; duration = 105; initialDepth = 1562.284631; finalDepth = 1584.449879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 106.466892 # Actual altitude: 100 # Commanded vehicle depth:1562.284631 # Seafloor depth:-1628.050017 # 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 129.577961 meters # Minimum depth: 1575.938433 meters looking forward 100.000000 meters along route # Maximum depth: 1587.926154 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 2250.000000 meters # Desired vehicle altitude: 45.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 1530.938433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 35.683266; longitude = -122.754374; captureRadius = 10; duration = 129; initialDepth = 1530.938433; finalDepth = 1562.284631; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.765386 # Actual altitude: 65.765386 # Commanded vehicle depth:1530.938433 # Seafloor depth:-1587.926154 # behavior reson { duration = 6; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 263.06; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.31; MB_Bottom_Detect_Filter_Max_Range = 263.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 197.30; 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: 56.987721 # Actual altitude: 56.987721 # Commanded vehicle depth:1530.938433 # Seafloor depth:-1587.536621 # 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 = 227.95; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.80; MB_Bottom_Detect_Filter_Max_Range = 227.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.96; 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: 1575.938433 meters looking forward 100.000000 meters along route # Maximum depth: 1587.536621 meters looking forward 100.000000 meters along route # Vehicle depth: 1530.938433 meters behavior waypoint { latitude = 35.684077; longitude = -122.753343; captureRadius = 10; duration = 500; depth = 1530.938433; speed = 1.500000; } # # Spiral descend behavior to get to proper depth at start of line 1 # Behavior depth of 1530.938433 meters set by local depth and desired altitude behavior descend { duration = 8222; 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: 1575.938433 meters looking forward 100.000000 meters along route # Maximum depth: 1587.536621 meters looking forward 100.000000 meters along route # Vehicle depth: 50.000000 meters behavior waypoint { latitude = 35.684077; longitude = -122.753343; captureRadius = 10; duration = 500; depth = 50.000000; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 225.897506; 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 = 225.897506; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 2; 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; } # ####################################################### #######################################################