# 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: 20080123_test1.rte # Mission File: 20080123_test1.cfg # Distance: 8445.177514 (m) # Estimated Time: 7297 (s) 2.027 (hr) # Abort Time: 9487 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 10 # Route Points: 323 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 50 (m) # Minimum Vehicle Altitude: 40 (m) # Abort Vehicle Altitude: 10 (m) # Maximum Vehicle Depth: 150 (m) # Abort Vehicle Depth: 175 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 200 (m) # Waypoint Spacing: 25 (m) # Start Longitude: -121.8569863 (deg) # Start Latitude: 36.8317745 (deg) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.856986 36.830542 -82.014821 0.000000 1 # 1 -121.856220 36.823185 -132.580841 819.116069 1 # 2 -121.853176 36.815024 -162.087789 1764.322472 1 # 3 -121.852223 36.810206 -184.682983 2305.542750 1 # 4 -121.865523 36.810692 -77.725382 3493.240118 1 # 5 -121.863057 36.814109 -83.400380 3931.552873 1 # 6 -121.843275 36.818255 -65.497335 5755.091780 1 # 7 -121.853643 36.816518 -155.299866 6699.719150 1 # 8 -121.856146 36.823315 -131.491821 7486.187163 1 # 9 -121.857117 36.831924 -76.979762 8445.177514 1 # # A total of 323 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 9487; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 150.000000; abortDepth = 175.000000; minAltitude = 40.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; 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 9 # Segment length 8.320959 meters # Minimum depth: 76.979762 meters looking forward 200.000000 meters along route # Maximum depth: 77.116873 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.979762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831924; longitude = -121.857117; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 26.979762; finalDepth = 26.979762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50 # Actual altitude: 50 # Commanded vehicle depth:26.979762 # Seafloor depth:-76.979762 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; 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 28.563290 meters # Minimum depth: 76.733710 meters looking forward 200.000000 meters along route # Maximum depth: 77.254211 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.733710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831849; longitude = -121.857109; captureRadius = 10; duration = 28; initialDepth = 26.733710; finalDepth = 26.979762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.482582 # Actual altitude: 50.482582 # Commanded vehicle depth:26.73371 # Seafloor depth:-77.216292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 27.603180 meters # Minimum depth: 76.733710 meters looking forward 200.000000 meters along route # Maximum depth: 78.537263 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.733710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831593; longitude = -121.857080; captureRadius = 10; duration = 27; initialDepth = 26.733710; finalDepth = 26.733710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.482582 # Actual altitude: 50.482582 # Commanded vehicle depth:26.73371 # Seafloor depth:-76.934746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203594 meters # Minimum depth: 76.733710 meters looking forward 200.000000 meters along route # Maximum depth: 79.892082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.733710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831345; longitude = -121.857052; captureRadius = 10; duration = 31; initialDepth = 26.733710; finalDepth = 26.733710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.853375 # Actual altitude: 51.853375 # Commanded vehicle depth:26.73371 # Seafloor depth:-78.587085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.41; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203594 meters # Minimum depth: 76.733710 meters looking forward 200.000000 meters along route # Maximum depth: 80.482674 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.733710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831065; longitude = -121.857020; captureRadius = 10; duration = 31; initialDepth = 26.733710; finalDepth = 26.733710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.143975 # Actual altitude: 53.143975 # Commanded vehicle depth:26.73371 # Seafloor depth:-79.877685 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.58; MB_Rate = 2; MB_Gain = 82; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.26; MB_Bottom_Detect_Filter_Max_Range = 212.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203594 meters # Minimum depth: 76.733710 meters looking forward 200.000000 meters along route # Maximum depth: 81.808711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.733710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830785; longitude = -121.856989; captureRadius = 10; duration = 31; initialDepth = 26.733710; finalDepth = 26.733710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.389292 # Actual altitude: 54.389292 # Commanded vehicle depth:26.73371 # Seafloor depth:-81.123002 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.56; MB_Rate = 2; MB_Gain = 82; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203593 meters # Minimum depth: 76.733710 meters looking forward 200.000000 meters along route # Maximum depth: 83.163516 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.733710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830505; longitude = -121.856957; captureRadius = 10; duration = 31; initialDepth = 26.733710; finalDepth = 26.733710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.644875 # Actual altitude: 55.644875 # Commanded vehicle depth:26.73371 # Seafloor depth:-82.378585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 222.58; MB_Rate = 2; MB_Gain = 82; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.26; MB_Bottom_Detect_Filter_Max_Range = 222.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203593 meters # Minimum depth: 76.733710 meters looking forward 200.000000 meters along route # Maximum depth: 84.368536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 26.733710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830225; longitude = -121.856925; captureRadius = 10; duration = 31; initialDepth = 26.733710; finalDepth = 26.733710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.612857 # Actual altitude: 56.612857 # Commanded vehicle depth:26.73371 # Seafloor depth:-83.346567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.45; MB_Rate = 2; MB_Gain = 82; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203593 meters # Minimum depth: 78.169275 meters looking forward 200.000000 meters along route # Maximum depth: 85.850694 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.169275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829945; longitude = -121.856894; captureRadius = 10; duration = 31; initialDepth = 28.169275; finalDepth = 26.733710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.612857 # Actual altitude: 56.612857 # Commanded vehicle depth:28.169275 # Seafloor depth:-84.686955 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.45; MB_Rate = 2; MB_Gain = 81; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.65; MB_Bottom_Detect_Filter_Max_Range = 226.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203593 meters # Minimum depth: 79.764035 meters looking forward 200.000000 meters along route # Maximum depth: 87.455386 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.764035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829664; longitude = -121.856862; captureRadius = 10; duration = 31; initialDepth = 29.764035; finalDepth = 28.169275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.51768 # Actual altitude: 56.51768 # Commanded vehicle depth:29.764035 # Seafloor depth:-85.910775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.07; MB_Rate = 2; MB_Gain = 81; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.61; MB_Bottom_Detect_Filter_Max_Range = 226.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 30.603523 meters # Minimum depth: 80.266523 meters looking forward 200.000000 meters along route # Maximum depth: 89.007135 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 30.266523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829384; longitude = -121.856831; captureRadius = 10; duration = 30; initialDepth = 30.266523; finalDepth = 29.764035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.246519 # Actual altitude: 57.246519 # Commanded vehicle depth:30.266523 # Seafloor depth:-87.513042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 228.99; MB_Rate = 2; MB_Gain = 81; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.90; MB_Bottom_Detect_Filter_Max_Range = 228.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 25.562942 meters # Minimum depth: 81.648575 meters looking forward 200.000000 meters along route # Maximum depth: 89.858994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 31.648575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829110; longitude = -121.856800; captureRadius = 10; duration = 25; initialDepth = 31.648575; finalDepth = 30.266523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.719153 # Actual altitude: 57.719153 # Commanded vehicle depth:31.648575 # Seafloor depth:-89.367728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 230.88; MB_Rate = 2; MB_Gain = 81; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.09; MB_Bottom_Detect_Filter_Max_Range = 230.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 29.763426 meters # Minimum depth: 82.667863 meters looking forward 200.000000 meters along route # Maximum depth: 92.035027 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 32.667863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828880; longitude = -121.856774; captureRadius = 10; duration = 29; initialDepth = 32.667863; finalDepth = 31.648575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.80655 # Actual altitude: 57.80655 # Commanded vehicle depth:32.667863 # Seafloor depth:-90.474413 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 231.23; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.12; MB_Bottom_Detect_Filter_Max_Range = 231.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 26.403039 meters # Minimum depth: 83.570029 meters looking forward 200.000000 meters along route # Maximum depth: 93.057217 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 33.570029 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828613; longitude = -121.856743; captureRadius = 10; duration = 26; initialDepth = 33.570029; finalDepth = 32.667863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.634222 # Actual altitude: 58.634222 # Commanded vehicle depth:33.570029 # Seafloor depth:-92.204251 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 234.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 28.923329 meters # Minimum depth: 85.068093 meters looking forward 200.000000 meters along route # Maximum depth: 94.365767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 35.068093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828376; longitude = -121.856717; captureRadius = 10; duration = 28; initialDepth = 35.068093; finalDepth = 33.570029; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.634222 # Actual altitude: 58.634222 # Commanded vehicle depth:35.068093 # Seafloor depth:-93.170546 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.54; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.45; MB_Bottom_Detect_Filter_Max_Range = 234.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 27.243135 meters # Minimum depth: 85.910775 meters looking forward 200.000000 meters along route # Maximum depth: 95.514244 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 35.910775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828116; longitude = -121.856687; captureRadius = 10; duration = 27; initialDepth = 35.910775; finalDepth = 35.068093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.653537 # Actual altitude: 58.653537 # Commanded vehicle depth:35.910775 # Seafloor depth:-94.564312 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.61; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 234.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203591 meters # Minimum depth: 87.513042 meters looking forward 200.000000 meters along route # Maximum depth: 97.890560 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 37.513042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827872; longitude = -121.856660; captureRadius = 10; duration = 31; initialDepth = 37.513042; finalDepth = 35.910775; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.653537 # Actual altitude: 58.653537 # Commanded vehicle depth:37.513042 # Seafloor depth:-96.054066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.61; MB_Rate = 2; MB_Gain = 79; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.46; MB_Bottom_Detect_Filter_Max_Range = 234.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203590 meters # Minimum depth: 89.400201 meters looking forward 200.000000 meters along route # Maximum depth: 99.248342 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 39.400201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827592; longitude = -121.856628; captureRadius = 10; duration = 31; initialDepth = 39.400201; finalDepth = 37.513042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.588933 # Actual altitude: 58.588933 # Commanded vehicle depth:39.400201 # Seafloor depth:-97.989134 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.36; MB_Rate = 2; MB_Gain = 79; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203590 meters # Minimum depth: 91.071765 meters looking forward 200.000000 meters along route # Maximum depth: 101.292611 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.071765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827312; longitude = -121.856597; captureRadius = 10; duration = 31; initialDepth = 41.071765; finalDepth = 39.400201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.588933 # Actual altitude: 58.588933 # Commanded vehicle depth:41.071765 # Seafloor depth:-99.359380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 234.36; MB_Rate = 2; MB_Gain = 79; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.44; MB_Bottom_Detect_Filter_Max_Range = 234.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 175.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203590 meters # Minimum depth: 92.404275 meters looking forward 200.000000 meters along route # Maximum depth: 103.788696 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.404275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827031; longitude = -121.856565; captureRadius = 10; duration = 31; initialDepth = 42.404275; finalDepth = 41.071765; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.302441 # Actual altitude: 59.302441 # Commanded vehicle depth:42.404275 # Seafloor depth:-101.706716 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 237.21; MB_Rate = 2; MB_Gain = 79; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.72; MB_Bottom_Detect_Filter_Max_Range = 237.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203590 meters # Minimum depth: 93.601442 meters looking forward 200.000000 meters along route # Maximum depth: 106.244203 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 43.601442 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826751; longitude = -121.856533; captureRadius = 10; duration = 31; initialDepth = 43.601442; finalDepth = 42.404275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.854989 # Actual altitude: 60.854989 # Commanded vehicle depth:43.601442 # Seafloor depth:-104.456431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 243.42; MB_Rate = 2; MB_Gain = 78; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.34; MB_Bottom_Detect_Filter_Max_Range = 243.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203589 meters # Minimum depth: 95.330069 meters looking forward 200.000000 meters along route # Maximum depth: 109.210401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.330069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826471; longitude = -121.856502; captureRadius = 10; duration = 31; initialDepth = 45.330069; finalDepth = 43.601442; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.728547 # Actual altitude: 61.728547 # Commanded vehicle depth:45.330069 # Seafloor depth:-107.058616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 246.91; MB_Rate = 2; MB_Gain = 78; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.69; MB_Bottom_Detect_Filter_Max_Range = 246.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203589 meters # Minimum depth: 97.261306 meters looking forward 200.000000 meters along route # Maximum depth: 111.806271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.261306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826191; longitude = -121.856470; captureRadius = 10; duration = 31; initialDepth = 47.261306; finalDepth = 45.330069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.504818 # Actual altitude: 62.504818 # Commanded vehicle depth:47.261306 # Seafloor depth:-109.766124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 250.02; MB_Rate = 2; MB_Gain = 78; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 250.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 30.963561 meters # Minimum depth: 99.171053 meters looking forward 200.000000 meters along route # Maximum depth: 114.783811 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.171053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825911; longitude = -121.856439; captureRadius = 10; duration = 30; initialDepth = 49.171053; finalDepth = 47.261306; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.041119 # Actual altitude: 63.041119 # Commanded vehicle depth:49.171053 # Seafloor depth:-112.212172 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 252.16; MB_Rate = 2; MB_Gain = 78; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 252.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 25.202899 meters # Minimum depth: 100.866903 meters looking forward 200.000000 meters along route # Maximum depth: 116.285884 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.866903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825633; longitude = -121.856407; captureRadius = 10; duration = 25; initialDepth = 50.866903; finalDepth = 49.171053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.632365 # Actual altitude: 64.632365 # Commanded vehicle depth:50.866903 # Seafloor depth:-115.499268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 258.53; MB_Rate = 2; MB_Gain = 77; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 258.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 30.123464 meters # Minimum depth: 102.664445 meters looking forward 200.000000 meters along route # Maximum depth: 118.261528 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.664445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825407; longitude = -121.856382; captureRadius = 10; duration = 30; initialDepth = 52.664445; finalDepth = 50.866903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.632365 # Actual altitude: 64.632365 # Commanded vehicle depth:52.664445 # Seafloor depth:-116.718205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 258.53; MB_Rate = 2; MB_Gain = 77; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.85; MB_Bottom_Detect_Filter_Max_Range = 258.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 26.042994 meters # Minimum depth: 104.803632 meters looking forward 200.000000 meters along route # Maximum depth: 120.227987 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 54.803632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825136; longitude = -121.856351; captureRadius = 10; duration = 26; initialDepth = 54.803632; finalDepth = 52.664445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.05376 # Actual altitude: 64.05376 # Commanded vehicle depth:54.803632 # Seafloor depth:-118.794791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 256.22; MB_Rate = 2; MB_Gain = 77; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.62; MB_Bottom_Detect_Filter_Max_Range = 256.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 29.283367 meters # Minimum depth: 107.650104 meters looking forward 200.000000 meters along route # Maximum depth: 122.364152 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 57.650104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824903; longitude = -121.856325; captureRadius = 10; duration = 29; initialDepth = 57.650104; finalDepth = 54.803632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.991159 # Actual altitude: 63.991159 # Commanded vehicle depth:57.650104 # Seafloor depth:-120.352237 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 255.96; MB_Rate = 2; MB_Gain = 77; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 255.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 26.883091 meters # Minimum depth: 109.766124 meters looking forward 200.000000 meters along route # Maximum depth: 125.559050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 59.766124 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824640; longitude = -121.856295; captureRadius = 10; duration = 26; initialDepth = 59.766124; finalDepth = 57.650104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.148075 # Actual altitude: 63.148075 # Commanded vehicle depth:59.766124 # Seafloor depth:-122.914199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 252.59; MB_Rate = 2; MB_Gain = 76; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 252.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203587 meters # Minimum depth: 112.212172 meters looking forward 200.000000 meters along route # Maximum depth: 128.793458 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 62.212172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824398; longitude = -121.856268; captureRadius = 10; duration = 31; initialDepth = 62.212172; finalDepth = 59.766124; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.035437 # Actual altitude: 64.035437 # Commanded vehicle depth:62.212172 # Seafloor depth:-126.247609 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 256.14; MB_Rate = 2; MB_Gain = 76; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203587 meters # Minimum depth: 115.499268 meters looking forward 200.000000 meters along route # Maximum depth: 129.387610 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.499268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824118; longitude = -121.856236; captureRadius = 10; duration = 31; initialDepth = 65.499268; finalDepth = 62.212172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.035437 # Actual altitude: 64.035437 # Commanded vehicle depth:65.499268 # Seafloor depth:-128.909704 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 256.14; MB_Rate = 2; MB_Gain = 76; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.61; MB_Bottom_Detect_Filter_Max_Range = 256.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 31.203587 meters # Minimum depth: 117.047310 meters looking forward 200.000000 meters along route # Maximum depth: 130.957604 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 67.047310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823838; longitude = -121.856205; captureRadius = 10; duration = 31; initialDepth = 67.047310; finalDepth = 65.499268; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.410436 # Actual altitude: 63.410436 # Commanded vehicle depth:67.04731 # Seafloor depth:-129.143480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 253.64; MB_Rate = 2; MB_Gain = 76; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.36; MB_Bottom_Detect_Filter_Max_Range = 253.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 27.043108 meters # Minimum depth: 118.917136 meters looking forward 200.000000 meters along route # Maximum depth: 131.365325 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 68.917136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823558; longitude = -121.856173; captureRadius = 10; duration = 27; initialDepth = 68.917136; finalDepth = 67.047310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.09617 # Actual altitude: 62.09617 # Commanded vehicle depth:68.917136 # Seafloor depth:-130.829765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 248.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.84; MB_Bottom_Detect_Filter_Max_Range = 248.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 4.321238 meters # Minimum depth: 118.917136 meters looking forward 200.000000 meters along route # Maximum depth: 131.491821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 68.917136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823315; longitude = -121.856146; captureRadius = 10; duration = 4; # abortOnTimeout = True; initialDepth = 68.917136; finalDepth = 68.917136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.574685 # Actual altitude: 62.574685 # Commanded vehicle depth:68.917136 # Seafloor depth:-131.491821 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 250.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927435 meters # Minimum depth: 121.356362 meters looking forward 200.000000 meters along route # Maximum depth: 132.827924 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 71.356362 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823278; longitude = -121.856132; captureRadius = 10; duration = 25; initialDepth = 71.356362; finalDepth = 68.917136; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.574685 # Actual altitude: 62.574685 # Commanded vehicle depth:71.356362 # Seafloor depth:-131.688852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 250.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.03; MB_Bottom_Detect_Filter_Max_Range = 250.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927440 meters # Minimum depth: 123.517199 meters looking forward 200.000000 meters along route # Maximum depth: 133.730991 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 73.517199 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823054; longitude = -121.856049; captureRadius = 10; duration = 25; initialDepth = 73.517199; finalDepth = 71.356362; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.33249 # Actual altitude: 60.33249 # Commanded vehicle depth:73.517199 # Seafloor depth:-132.670267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 241.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927445 meters # Minimum depth: 126.707427 meters looking forward 200.000000 meters along route # Maximum depth: 134.664773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 76.707427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822830; longitude = -121.855967; captureRadius = 10; duration = 25; initialDepth = 76.707427; finalDepth = 73.517199; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.153068 # Actual altitude: 59.153068 # Commanded vehicle depth:76.707427 # Seafloor depth:-134.286911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 236.61; MB_Rate = 2; MB_Gain = 74; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.66; MB_Bottom_Detect_Filter_Max_Range = 236.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927452 meters # Minimum depth: 128.909704 meters looking forward 200.000000 meters along route # Maximum depth: 135.614425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 78.909704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822606; longitude = -121.855884; captureRadius = 10; duration = 25; initialDepth = 78.909704; finalDepth = 76.707427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.579484 # Actual altitude: 57.579484 # Commanded vehicle depth:78.909704 # Seafloor depth:-134.895605 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 230.32; MB_Rate = 2; MB_Gain = 74; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.03; MB_Bottom_Detect_Filter_Max_Range = 230.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927457 meters # Minimum depth: 129.143480 meters looking forward 200.000000 meters along route # Maximum depth: 135.851599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 79.143480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822382; longitude = -121.855802; captureRadius = 10; duration = 25; initialDepth = 79.143480; finalDepth = 78.909704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.708119 # Actual altitude: 56.708119 # Commanded vehicle depth:79.14348 # Seafloor depth:-135.851599 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.83; MB_Rate = 2; MB_Gain = 74; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927463 meters # Minimum depth: 129.803557 meters looking forward 200.000000 meters along route # Maximum depth: 136.543974 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 79.803557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822158; longitude = -121.855719; captureRadius = 10; duration = 25; initialDepth = 79.803557; finalDepth = 79.143480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.708119 # Actual altitude: 56.708119 # Commanded vehicle depth:79.803557 # Seafloor depth:-135.675422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.83; MB_Rate = 2; MB_Gain = 74; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.68; MB_Bottom_Detect_Filter_Max_Range = 226.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927468 meters # Minimum depth: 131.057049 meters looking forward 200.000000 meters along route # Maximum depth: 137.443821 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 81.057049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821934; longitude = -121.855637; captureRadius = 10; duration = 25; initialDepth = 81.057049; finalDepth = 79.803557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.871865 # Actual altitude: 55.871865 # Commanded vehicle depth:81.057049 # Seafloor depth:-136.853746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.49; MB_Rate = 2; MB_Gain = 73; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.35; MB_Bottom_Detect_Filter_Max_Range = 223.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927475 meters # Minimum depth: 132.376947 meters looking forward 200.000000 meters along route # Maximum depth: 138.697778 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 82.376947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821709; longitude = -121.855554; captureRadius = 10; duration = 25; initialDepth = 82.376947; finalDepth = 81.057049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.796697 # Actual altitude: 55.796697 # Commanded vehicle depth:82.376947 # Seafloor depth:-137.409624 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.19; MB_Rate = 2; MB_Gain = 73; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927480 meters # Minimum depth: 133.288149 meters looking forward 200.000000 meters along route # Maximum depth: 140.402973 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 83.288149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821485; longitude = -121.855472; captureRadius = 10; duration = 25; initialDepth = 83.288149; finalDepth = 82.376947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.710356 # Actual altitude: 55.710356 # Commanded vehicle depth:83.288149 # Seafloor depth:-138.998505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 222.84; MB_Rate = 2; MB_Gain = 73; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.28; MB_Bottom_Detect_Filter_Max_Range = 222.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927485 meters # Minimum depth: 134.434896 meters looking forward 200.000000 meters along route # Maximum depth: 140.873486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 84.434896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821261; longitude = -121.855389; captureRadius = 10; duration = 25; initialDepth = 84.434896; finalDepth = 83.288149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.119364 # Actual altitude: 56.119364 # Commanded vehicle depth:84.434896 # Seafloor depth:-140.554260 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 224.48; MB_Rate = 2; MB_Gain = 73; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927491 meters # Minimum depth: 135.202169 meters looking forward 200.000000 meters along route # Maximum depth: 140.873486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.202169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821037; longitude = -121.855307; captureRadius = 10; duration = 25; initialDepth = 85.202169; finalDepth = 84.434896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.119364 # Actual altitude: 56.119364 # Commanded vehicle depth:85.202169 # Seafloor depth:-140.270520 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 224.48; MB_Rate = 2; MB_Gain = 72; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.45; MB_Bottom_Detect_Filter_Max_Range = 224.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927497 meters # Minimum depth: 135.627002 meters looking forward 200.000000 meters along route # Maximum depth: 140.973353 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.627002 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820813; longitude = -121.855224; captureRadius = 10; duration = 25; initialDepth = 85.627002; finalDepth = 85.202169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.174239 # Actual altitude: 55.174239 # Commanded vehicle depth:85.627002 # Seafloor depth:-140.801241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 220.70; MB_Rate = 2; MB_Gain = 72; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927503 meters # Minimum depth: 136.192161 meters looking forward 200.000000 meters along route # Maximum depth: 142.443773 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 86.192161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820589; longitude = -121.855142; captureRadius = 10; duration = 25; initialDepth = 86.192161; finalDepth = 85.627002; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.174239 # Actual altitude: 55.174239 # Commanded vehicle depth:86.192161 # Seafloor depth:-141.047371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 220.70; MB_Rate = 2; MB_Gain = 72; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.07; MB_Bottom_Detect_Filter_Max_Range = 220.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927509 meters # Minimum depth: 137.131343 meters looking forward 200.000000 meters along route # Maximum depth: 142.961838 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 87.131343 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820365; longitude = -121.855059; captureRadius = 10; duration = 25; initialDepth = 87.131343; finalDepth = 86.192161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.401493 # Actual altitude: 55.401493 # Commanded vehicle depth:87.131343 # Seafloor depth:-142.532836 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 72; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927514 meters # Minimum depth: 138.435798 meters looking forward 200.000000 meters along route # Maximum depth: 143.898541 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 88.435798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820141; longitude = -121.854977; captureRadius = 10; duration = 25; initialDepth = 88.435798; finalDepth = 87.131343; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.401493 # Actual altitude: 55.401493 # Commanded vehicle depth:88.435798 # Seafloor depth:-143.199120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.61; MB_Rate = 2; MB_Gain = 71; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927519 meters # Minimum depth: 140.233600 meters looking forward 200.000000 meters along route # Maximum depth: 144.987819 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.233600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819917; longitude = -121.854894; captureRadius = 10; duration = 25; initialDepth = 90.233600; finalDepth = 88.435798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.763322 # Actual altitude: 54.763322 # Commanded vehicle depth:90.2336 # Seafloor depth:-144.291702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.05; MB_Rate = 2; MB_Gain = 71; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927526 meters # Minimum depth: 140.270520 meters looking forward 200.000000 meters along route # Maximum depth: 145.090835 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.270520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819693; longitude = -121.854812; captureRadius = 10; duration = 25; initialDepth = 90.270520; finalDepth = 90.233600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.418551 # Actual altitude: 54.418551 # Commanded vehicle depth:90.27052 # Seafloor depth:-144.689071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.67; MB_Rate = 2; MB_Gain = 71; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927531 meters # Minimum depth: 140.440596 meters looking forward 200.000000 meters along route # Maximum depth: 146.526250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.440596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819469; longitude = -121.854729; captureRadius = 10; duration = 25; initialDepth = 90.440596; finalDepth = 90.270520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.876115 # Actual altitude: 54.876115 # Commanded vehicle depth:90.440596 # Seafloor depth:-145.316711 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.50; MB_Rate = 2; MB_Gain = 71; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.95; MB_Bottom_Detect_Filter_Max_Range = 219.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927537 meters # Minimum depth: 140.962287 meters looking forward 200.000000 meters along route # Maximum depth: 147.890858 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.962287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819245; longitude = -121.854647; captureRadius = 10; duration = 25; initialDepth = 90.962287; finalDepth = 90.440596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.818599 # Actual altitude: 55.818599 # Commanded vehicle depth:90.962287 # Seafloor depth:-146.780886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.33; MB_Bottom_Detect_Filter_Max_Range = 223.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927542 meters # Minimum depth: 141.761216 meters looking forward 200.000000 meters along route # Maximum depth: 148.366021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 91.761216 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819020; longitude = -121.854564; captureRadius = 10; duration = 25; initialDepth = 91.761216; finalDepth = 90.962287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.458671 # Actual altitude: 56.458671 # Commanded vehicle depth:91.761216 # Seafloor depth:-148.219887 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 225.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927549 meters # Minimum depth: 142.715143 meters looking forward 200.000000 meters along route # Maximum depth: 149.398192 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 92.715143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818796; longitude = -121.854482; captureRadius = 10; duration = 25; initialDepth = 92.715143; finalDepth = 91.761216; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.458671 # Actual altitude: 56.458671 # Commanded vehicle depth:92.715143 # Seafloor depth:-148.382536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 225.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.58; MB_Bottom_Detect_Filter_Max_Range = 225.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927553 meters # Minimum depth: 143.592669 meters looking forward 200.000000 meters along route # Maximum depth: 149.605514 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 93.592669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818572; longitude = -121.854399; captureRadius = 10; duration = 25; initialDepth = 93.592669; finalDepth = 92.715143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.888142 # Actual altitude: 55.888142 # Commanded vehicle depth:93.592669 # Seafloor depth:-149.480811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927560 meters # Minimum depth: 144.595676 meters looking forward 200.000000 meters along route # Maximum depth: 149.862554 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.595676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818348; longitude = -121.854317; captureRadius = 10; duration = 25; initialDepth = 94.595676; finalDepth = 93.592669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.888142 # Actual altitude: 55.888142 # Commanded vehicle depth:94.595676 # Seafloor depth:-149.753155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.55; MB_Rate = 2; MB_Gain = 69; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927565 meters # Minimum depth: 144.657874 meters looking forward 200.000000 meters along route # Maximum depth: 150.962362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.657874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818124; longitude = -121.854234; captureRadius = 10; duration = 25; initialDepth = 94.657874; finalDepth = 94.595676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.285395 # Actual altitude: 55.285395 # Commanded vehicle depth:94.657874 # Seafloor depth:-149.943269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.14; MB_Rate = 2; MB_Gain = 69; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927571 meters # Minimum depth: 146.217834 meters looking forward 200.000000 meters along route # Maximum depth: 151.260806 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 96.217834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817900; longitude = -121.854151; captureRadius = 10; duration = 25; initialDepth = 96.217834; finalDepth = 94.657874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.285395 # Actual altitude: 55.285395 # Commanded vehicle depth:96.217834 # Seafloor depth:-151.044535 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.14; MB_Rate = 2; MB_Gain = 69; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927577 meters # Minimum depth: 147.353220 meters looking forward 200.000000 meters along route # Maximum depth: 151.934591 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 97.353220 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817676; longitude = -121.854069; captureRadius = 10; duration = 25; initialDepth = 97.353220; finalDepth = 96.217834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.826701 # Actual altitude: 54.826701 # Commanded vehicle depth:97.35322 # Seafloor depth:-151.474843 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.31; MB_Rate = 2; MB_Gain = 69; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.93; MB_Bottom_Detect_Filter_Max_Range = 219.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927582 meters # Minimum depth: 148.035884 meters looking forward 200.000000 meters along route # Maximum depth: 152.263654 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 98.035884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817452; longitude = -121.853986; captureRadius = 10; duration = 25; initialDepth = 98.035884; finalDepth = 97.353220; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.121623 # Actual altitude: 54.121623 # Commanded vehicle depth:98.035884 # Seafloor depth:-152.078277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 216.49; MB_Rate = 2; MB_Gain = 68; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.65; MB_Bottom_Detect_Filter_Max_Range = 216.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.36; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927588 meters # Minimum depth: 149.022967 meters looking forward 200.000000 meters along route # Maximum depth: 153.704423 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.022967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817228; longitude = -121.853904; captureRadius = 10; duration = 25; initialDepth = 99.022967; finalDepth = 98.035884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.042393 # Actual altitude: 54.042393 # Commanded vehicle depth:99.022967 # Seafloor depth:-152.117141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 216.17; MB_Rate = 2; MB_Gain = 68; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 25.927594 meters # Minimum depth: 149.318874 meters looking forward 200.000000 meters along route # Maximum depth: 154.384443 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.318874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817004; longitude = -121.853821; captureRadius = 10; duration = 25; initialDepth = 99.318874; finalDepth = 99.022967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.513262 # Actual altitude: 54.513262 # Commanded vehicle depth:99.318874 # Seafloor depth:-153.832136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.05; MB_Rate = 2; MB_Gain = 68; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 30.248867 meters # Minimum depth: 149.429856 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.429856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816780; longitude = -121.853739; captureRadius = 10; duration = 30; initialDepth = 99.429856; finalDepth = 99.318874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.957748 # Actual altitude: 54.957748 # Commanded vehicle depth:99.429856 # Seafloor depth:-154.387604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.83; MB_Rate = 2; MB_Gain = 68; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 23.828662 meters # Minimum depth: 150.736020 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 100.736020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816518; longitude = -121.853643; captureRadius = 10; duration = 23; # abortOnTimeout = True; initialDepth = 100.736020; finalDepth = 99.429856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.957748 # Actual altitude: 54.957748 # Commanded vehicle depth:100.73602 # Seafloor depth:-155.299866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.83; MB_Rate = 2; MB_Gain = 67; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.98; MB_Bottom_Detect_Filter_Max_Range = 219.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530697 meters # Minimum depth: 151.134606 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 101.134606 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816562; longitude = -121.853381; captureRadius = 10; duration = 25; initialDepth = 101.134606; finalDepth = 100.736020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.563846 # Actual altitude: 54.563846 # Commanded vehicle depth:101.134606 # Seafloor depth:-154.338760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.26; MB_Rate = 2; MB_Gain = 67; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.83; MB_Bottom_Detect_Filter_Max_Range = 218.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530683 meters # Minimum depth: 151.401060 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 101.401060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816609; longitude = -121.853101; captureRadius = 10; duration = 25; initialDepth = 101.401060; finalDepth = 101.134606; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.204154 # Actual altitude: 53.204154 # Commanded vehicle depth:101.40106 # Seafloor depth:-152.474772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.82; MB_Rate = 2; MB_Gain = 67; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.28; MB_Bottom_Detect_Filter_Max_Range = 212.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530671 meters # Minimum depth: 149.632604 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.632604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816656; longitude = -121.852821; captureRadius = 10; duration = 25; initialDepth = 99.632604; finalDepth = 101.401060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.450137 # Actual altitude: 51.450137 # Commanded vehicle depth:99.632604 # Seafloor depth:-151.082741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.80; MB_Rate = 2; MB_Gain = 67; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530656 meters # Minimum depth: 146.733310 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 96.733310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816703; longitude = -121.852540; captureRadius = 10; duration = 25; initialDepth = 96.733310; finalDepth = 99.632604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.865284 # Actual altitude: 52.865284 # Commanded vehicle depth:96.73331 # Seafloor depth:-149.598594 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 211.46; MB_Rate = 2; MB_Gain = 66; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530644 meters # Minimum depth: 145.092614 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 95.092614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816750; longitude = -121.852260; captureRadius = 10; duration = 25; initialDepth = 95.092614; finalDepth = 96.733310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.865284 # Actual altitude: 52.865284 # Commanded vehicle depth:95.092614 # Seafloor depth:-146.634324 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 211.46; MB_Rate = 2; MB_Gain = 66; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530630 meters # Minimum depth: 143.178777 meters looking forward 200.000000 meters along route # Maximum depth: 155.402368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 93.178777 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816797; longitude = -121.851980; captureRadius = 10; duration = 25; initialDepth = 93.178777; finalDepth = 95.092614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.574095 # Actual altitude: 51.574095 # Commanded vehicle depth:93.178777 # Seafloor depth:-144.752872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.30; MB_Rate = 2; MB_Gain = 66; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530617 meters # Minimum depth: 140.922861 meters looking forward 200.000000 meters along route # Maximum depth: 155.077994 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.922861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816844; longitude = -121.851700; captureRadius = 10; duration = 25; initialDepth = 90.922861; finalDepth = 93.178777; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.574095 # Actual altitude: 51.574095 # Commanded vehicle depth:90.922861 # Seafloor depth:-142.386984 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.30; MB_Rate = 2; MB_Gain = 66; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530604 meters # Minimum depth: 138.787961 meters looking forward 200.000000 meters along route # Maximum depth: 154.089763 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 88.787961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816891; longitude = -121.851420; captureRadius = 10; duration = 25; initialDepth = 88.787961; finalDepth = 90.922861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.818647 # Actual altitude: 51.818647 # Commanded vehicle depth:88.787961 # Seafloor depth:-140.606608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.27; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530590 meters # Minimum depth: 136.222602 meters looking forward 200.000000 meters along route # Maximum depth: 152.179918 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 86.222602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816937; longitude = -121.851139; captureRadius = 10; duration = 25; initialDepth = 86.222602; finalDepth = 88.787961; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.389947 # Actual altitude: 52.389947 # Commanded vehicle depth:86.222602 # Seafloor depth:-138.612549 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.56; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530577 meters # Minimum depth: 134.175162 meters looking forward 200.000000 meters along route # Maximum depth: 150.326731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 84.175162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816984; longitude = -121.850859; captureRadius = 10; duration = 25; initialDepth = 84.175162; finalDepth = 86.222602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.389947 # Actual altitude: 52.389947 # Commanded vehicle depth:84.175162 # Seafloor depth:-135.656055 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.56; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.96; MB_Bottom_Detect_Filter_Max_Range = 209.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530563 meters # Minimum depth: 130.398027 meters looking forward 200.000000 meters along route # Maximum depth: 149.068028 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 80.398027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817031; longitude = -121.850579; captureRadius = 10; duration = 25; initialDepth = 80.398027; finalDepth = 84.175162; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.940151 # Actual altitude: 52.940151 # Commanded vehicle depth:80.398027 # Seafloor depth:-133.338178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 211.76; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530551 meters # Minimum depth: 127.876299 meters looking forward 200.000000 meters along route # Maximum depth: 146.313852 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 77.876299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817078; longitude = -121.850299; captureRadius = 10; duration = 25; initialDepth = 77.876299; finalDepth = 80.398027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.940151 # Actual altitude: 52.940151 # Commanded vehicle depth:77.876299 # Seafloor depth:-130.138129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 211.76; MB_Rate = 2; MB_Gain = 64; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.18; MB_Bottom_Detect_Filter_Max_Range = 211.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530536 meters # Minimum depth: 124.890391 meters looking forward 200.000000 meters along route # Maximum depth: 144.101368 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.890391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817125; longitude = -121.850019; captureRadius = 10; duration = 25; initialDepth = 74.890391; finalDepth = 77.876299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.606432 # Actual altitude: 52.606432 # Commanded vehicle depth:74.890391 # Seafloor depth:-127.496823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.43; MB_Rate = 2; MB_Gain = 64; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530524 meters # Minimum depth: 123.402246 meters looking forward 200.000000 meters along route # Maximum depth: 142.051304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 73.402246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817172; longitude = -121.849738; captureRadius = 10; duration = 25; initialDepth = 73.402246; finalDepth = 74.890391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.606432 # Actual altitude: 52.606432 # Commanded vehicle depth:73.402246 # Seafloor depth:-124.864190 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.43; MB_Rate = 2; MB_Gain = 64; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.04; MB_Bottom_Detect_Filter_Max_Range = 210.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530510 meters # Minimum depth: 121.279352 meters looking forward 200.000000 meters along route # Maximum depth: 140.359690 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 71.279352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817219; longitude = -121.849458; captureRadius = 10; duration = 25; initialDepth = 71.279352; finalDepth = 73.402246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.461944 # Actual altitude: 51.461944 # Commanded vehicle depth:71.279352 # Seafloor depth:-122.299961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.85; MB_Rate = 2; MB_Gain = 64; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530497 meters # Minimum depth: 119.902528 meters looking forward 200.000000 meters along route # Maximum depth: 138.359229 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 69.902528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817266; longitude = -121.849178; captureRadius = 10; duration = 25; initialDepth = 69.902528; finalDepth = 71.279352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.020609 # Actual altitude: 51.020609 # Commanded vehicle depth:69.902528 # Seafloor depth:-120.745482 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 63; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530484 meters # Minimum depth: 118.048749 meters looking forward 200.000000 meters along route # Maximum depth: 135.210440 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 68.048749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817313; longitude = -121.848898; captureRadius = 10; duration = 25; initialDepth = 68.048749; finalDepth = 69.902528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.760968 # Actual altitude: 51.760968 # Commanded vehicle depth:68.048749 # Seafloor depth:-119.809717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.04; MB_Rate = 2; MB_Gain = 63; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530470 meters # Minimum depth: 116.811209 meters looking forward 200.000000 meters along route # Maximum depth: 132.678747 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 66.811209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817360; longitude = -121.848618; captureRadius = 10; duration = 25; initialDepth = 66.811209; finalDepth = 68.048749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.760968 # Actual altitude: 51.760968 # Commanded vehicle depth:66.811209 # Seafloor depth:-117.868335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.04; MB_Rate = 2; MB_Gain = 63; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530457 meters # Minimum depth: 115.001130 meters looking forward 200.000000 meters along route # Maximum depth: 129.082057 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.001130 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817407; longitude = -121.848337; captureRadius = 10; duration = 25; initialDepth = 65.001130; finalDepth = 66.811209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.761535 # Actual altitude: 51.761535 # Commanded vehicle depth:65.00113 # Seafloor depth:-116.762665 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.05; MB_Rate = 2; MB_Gain = 63; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530444 meters # Minimum depth: 113.556476 meters looking forward 200.000000 meters along route # Maximum depth: 126.600765 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 63.556476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817454; longitude = -121.848057; captureRadius = 10; duration = 25; initialDepth = 63.556476; finalDepth = 65.001130; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.761535 # Actual altitude: 51.761535 # Commanded vehicle depth:63.556476 # Seafloor depth:-114.954928 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.05; MB_Rate = 2; MB_Gain = 62; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530430 meters # Minimum depth: 111.468648 meters looking forward 200.000000 meters along route # Maximum depth: 124.091225 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.468648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817501; longitude = -121.847777; captureRadius = 10; duration = 25; initialDepth = 61.468648; finalDepth = 63.556476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.65417 # Actual altitude: 51.65417 # Commanded vehicle depth:61.468648 # Seafloor depth:-113.122818 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.62; MB_Rate = 2; MB_Gain = 62; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530417 meters # Minimum depth: 108.978208 meters looking forward 200.000000 meters along route # Maximum depth: 122.289145 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 58.978208 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817548; longitude = -121.847497; captureRadius = 10; duration = 25; initialDepth = 58.978208; finalDepth = 61.468648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.103531 # Actual altitude: 52.103531 # Commanded vehicle depth:58.978208 # Seafloor depth:-111.081739 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.41; MB_Rate = 2; MB_Gain = 62; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530404 meters # Minimum depth: 106.510086 meters looking forward 200.000000 meters along route # Maximum depth: 120.183628 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 56.510086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817595; longitude = -121.847217; captureRadius = 10; duration = 25; initialDepth = 56.510086; finalDepth = 58.978208; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.103531 # Actual altitude: 52.103531 # Commanded vehicle depth:56.510086 # Seafloor depth:-108.476803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.41; MB_Rate = 2; MB_Gain = 62; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.84; MB_Bottom_Detect_Filter_Max_Range = 208.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530391 meters # Minimum depth: 103.449380 meters looking forward 200.000000 meters along route # Maximum depth: 119.482626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 53.449380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817641; longitude = -121.846936; captureRadius = 10; duration = 25; initialDepth = 53.449380; finalDepth = 56.510086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.305064 # Actual altitude: 52.305064 # Commanded vehicle depth:53.44938 # Seafloor depth:-105.754444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 61; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530377 meters # Minimum depth: 101.324541 meters looking forward 200.000000 meters along route # Maximum depth: 117.564943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.324541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817688; longitude = -121.846656; captureRadius = 10; duration = 25; initialDepth = 51.324541; finalDepth = 53.449380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.305064 # Actual altitude: 52.305064 # Commanded vehicle depth:51.324541 # Seafloor depth:-102.701622 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.22; MB_Rate = 2; MB_Gain = 61; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.92; MB_Bottom_Detect_Filter_Max_Range = 209.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.92; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530363 meters # Minimum depth: 100.209309 meters looking forward 200.000000 meters along route # Maximum depth: 116.136341 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.209309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817735; longitude = -121.846376; captureRadius = 10; duration = 25; initialDepth = 50.209309; finalDepth = 51.324541; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.377081 # Actual altitude: 51.377081 # Commanded vehicle depth:50.209309 # Seafloor depth:-101.267155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.51; MB_Rate = 2; MB_Gain = 61; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530351 meters # Minimum depth: 96.113943 meters looking forward 200.000000 meters along route # Maximum depth: 114.728118 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 46.113943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817782; longitude = -121.846096; captureRadius = 10; duration = 25; initialDepth = 46.113943; finalDepth = 50.209309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.587758 # Actual altitude: 53.587758 # Commanded vehicle depth:46.113943 # Seafloor depth:-99.701701 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 214.35; MB_Rate = 2; MB_Gain = 61; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.44; MB_Bottom_Detect_Filter_Max_Range = 214.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530337 meters # Minimum depth: 89.677048 meters looking forward 200.000000 meters along route # Maximum depth: 112.823309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 39.677048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817829; longitude = -121.845816; captureRadius = 10; duration = 25; initialDepth = 39.677048; finalDepth = 46.113943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.971618 # Actual altitude: 54.971618 # Commanded vehicle depth:39.677048 # Seafloor depth:-94.648666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 219.89; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.99; MB_Bottom_Detect_Filter_Max_Range = 219.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530324 meters # Minimum depth: 80.601038 meters looking forward 200.000000 meters along route # Maximum depth: 110.641680 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 30.601038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817876; longitude = -121.845535; captureRadius = 10; duration = 25; initialDepth = 30.601038; finalDepth = 39.677048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.774624 # Actual altitude: 56.774624 # Commanded vehicle depth:30.601038 # Seafloor depth:-87.375662 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 227.10; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530310 meters # Minimum depth: 72.463366 meters looking forward 200.000000 meters along route # Maximum depth: 108.027424 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 22.463366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817923; longitude = -121.845255; captureRadius = 10; duration = 25; initialDepth = 22.463366; finalDepth = 30.601038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.774624 # Actual altitude: 56.774624 # Commanded vehicle depth:22.463366 # Seafloor depth:-78.366314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 227.10; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.71; MB_Bottom_Detect_Filter_Max_Range = 227.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530297 meters # Minimum depth: 68.120254 meters looking forward 200.000000 meters along route # Maximum depth: 104.974956 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 18.120254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817970; longitude = -121.844975; captureRadius = 10; duration = 25; initialDepth = 18.120254; finalDepth = 22.463366; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.902948 # Actual altitude: 55.902948 # Commanded vehicle depth:18.120254 # Seafloor depth:-71.514710 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.61; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.36; MB_Bottom_Detect_Filter_Max_Range = 223.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530284 meters # Minimum depth: 66.593931 meters looking forward 200.000000 meters along route # Maximum depth: 102.306148 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 16.593931 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818017; longitude = -121.844695; captureRadius = 10; duration = 25; initialDepth = 16.593931; finalDepth = 18.120254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.394456 # Actual altitude: 53.394456 # Commanded vehicle depth:16.593931 # Seafloor depth:-68.036708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 213.58; MB_Rate = 2; MB_Gain = 59; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.36; MB_Bottom_Detect_Filter_Max_Range = 213.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530271 meters # Minimum depth: 65.860715 meters looking forward 200.000000 meters along route # Maximum depth: 100.742508 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.860715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818064; longitude = -121.844415; captureRadius = 10; duration = 25; initialDepth = 15.860715; finalDepth = 16.593931; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.442777 # Actual altitude: 51.442777 # Commanded vehicle depth:15.860715 # Seafloor depth:-66.418178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.77; MB_Rate = 2; MB_Gain = 59; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530257 meters # Minimum depth: 65.633767 meters looking forward 200.000000 meters along route # Maximum depth: 98.907259 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.633767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818111; longitude = -121.844134; captureRadius = 10; duration = 25; initialDepth = 15.633767; finalDepth = 15.860715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.557463 # Actual altitude: 50.557463 # Commanded vehicle depth:15.633767 # Seafloor depth:-65.753198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.23; MB_Rate = 2; MB_Gain = 59; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 25.530244 meters # Minimum depth: 65.633767 meters looking forward 200.000000 meters along route # Maximum depth: 93.597944 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.633767 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818158; longitude = -121.843854; captureRadius = 10; duration = 25; initialDepth = 15.633767; finalDepth = 15.633767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.132403 # Actual altitude: 50.132403 # Commanded vehicle depth:15.633767 # Seafloor depth:-65.766170 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.53; MB_Rate = 2; MB_Gain = 59; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 27.232246 meters # Minimum depth: 65.360121 meters looking forward 200.000000 meters along route # Maximum depth: 84.364607 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.360121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818205; longitude = -121.843574; captureRadius = 10; duration = 27; initialDepth = 15.360121; finalDepth = 15.633767; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.142077 # Actual altitude: 50.142077 # Commanded vehicle depth:15.360121 # Seafloor depth:-65.502198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 58; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 12.053334 meters # Minimum depth: 65.360121 meters looking forward 200.000000 meters along route # Maximum depth: 80.601038 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.360121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818255; longitude = -121.843275; captureRadius = 10; duration = 12; # abortOnTimeout = True; initialDepth = 15.360121; finalDepth = 15.360121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.142077 # Actual altitude: 50.142077 # Commanded vehicle depth:15.360121 # Seafloor depth:-65.497335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.57; MB_Rate = 2; MB_Gain = 58; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828585 meters # Minimum depth: 65.355176 meters looking forward 200.000000 meters along route # Maximum depth: 72.463366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.355176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818227; longitude = -121.843406; captureRadius = 10; duration = 25; initialDepth = 15.355176; finalDepth = 15.360121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.358556 # Actual altitude: 50.358556 # Commanded vehicle depth:15.355176 # Seafloor depth:-65.713732 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.43; MB_Rate = 2; MB_Gain = 58; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828602 meters # Minimum depth: 65.355176 meters looking forward 200.000000 meters along route # Maximum depth: 68.198220 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.355176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818169; longitude = -121.843686; captureRadius = 10; duration = 25; initialDepth = 15.355176; finalDepth = 15.355176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.372618 # Actual altitude: 50.372618 # Commanded vehicle depth:15.355176 # Seafloor depth:-65.727794 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.49; MB_Rate = 2; MB_Gain = 58; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828618 meters # Minimum depth: 65.355176 meters looking forward 200.000000 meters along route # Maximum depth: 66.593931 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.355176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818110; longitude = -121.843966; captureRadius = 10; duration = 25; initialDepth = 15.355176; finalDepth = 15.355176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.438117 # Actual altitude: 50.438117 # Commanded vehicle depth:15.355176 # Seafloor depth:-65.793293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 57; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828636 meters # Minimum depth: 65.355176 meters looking forward 200.000000 meters along route # Maximum depth: 66.633425 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.355176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818051; longitude = -121.844247; captureRadius = 10; duration = 25; initialDepth = 15.355176; finalDepth = 15.355176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.866327 # Actual altitude: 50.866327 # Commanded vehicle depth:15.355176 # Seafloor depth:-66.221503 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.47; MB_Rate = 2; MB_Gain = 57; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828652 meters # Minimum depth: 65.355176 meters looking forward 200.000000 meters along route # Maximum depth: 68.425545 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.355176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817993; longitude = -121.844527; captureRadius = 10; duration = 25; initialDepth = 15.355176; finalDepth = 15.355176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.518103 # Actual altitude: 51.518103 # Commanded vehicle depth:15.355176 # Seafloor depth:-66.873279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.07; MB_Rate = 2; MB_Gain = 57; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.55; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828670 meters # Minimum depth: 65.355176 meters looking forward 200.000000 meters along route # Maximum depth: 72.905626 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.355176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817934; longitude = -121.844807; captureRadius = 10; duration = 25; initialDepth = 15.355176; finalDepth = 15.355176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.796618 # Actual altitude: 53.796618 # Commanded vehicle depth:15.355176 # Seafloor depth:-69.151794 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 215.19; MB_Rate = 2; MB_Gain = 57; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828686 meters # Minimum depth: 65.355176 meters looking forward 200.000000 meters along route # Maximum depth: 80.447395 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.355176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817875; longitude = -121.845087; captureRadius = 10; duration = 25; initialDepth = 15.355176; finalDepth = 15.355176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.75005 # Actual altitude: 58.75005 # Commanded vehicle depth:15.355176 # Seafloor depth:-74.105226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 235.00; MB_Rate = 2; MB_Gain = 56; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.50; MB_Bottom_Detect_Filter_Max_Range = 235.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828703 meters # Minimum depth: 65.440393 meters looking forward 200.000000 meters along route # Maximum depth: 89.606731 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.440393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817816; longitude = -121.845367; captureRadius = 10; duration = 25; initialDepth = 15.440393; finalDepth = 15.355176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.056846 # Actual altitude: 67.056846 # Commanded vehicle depth:15.440393 # Seafloor depth:-82.497239 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.23; MB_Rate = 2; MB_Gain = 56; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 268.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828719 meters # Minimum depth: 65.655178 meters looking forward 200.000000 meters along route # Maximum depth: 96.403557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.655178 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817758; longitude = -121.845648; captureRadius = 10; duration = 25; initialDepth = 15.655178; finalDepth = 15.440393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.613383 # Actual altitude: 75.613383 # Commanded vehicle depth:15.655178 # Seafloor depth:-91.268561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 302.45; MB_Rate = 2; MB_Gain = 56; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 302.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828737 meters # Minimum depth: 65.706661 meters looking forward 200.000000 meters along route # Maximum depth: 100.471826 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 15.706661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817699; longitude = -121.845928; captureRadius = 10; duration = 25; initialDepth = 15.706661; finalDepth = 15.655178; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.815548 # Actual altitude: 81.815548 # Commanded vehicle depth:15.706661 # Seafloor depth:-97.522209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 327.26; MB_Rate = 2; MB_Gain = 56; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.73; MB_Bottom_Detect_Filter_Max_Range = 327.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828753 meters # Minimum depth: 66.014622 meters looking forward 200.000000 meters along route # Maximum depth: 101.560309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 16.014622 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817640; longitude = -121.846208; captureRadius = 10; duration = 25; initialDepth = 16.014622; finalDepth = 15.706661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.837976 # Actual altitude: 84.837976 # Commanded vehicle depth:16.014622 # Seafloor depth:-100.852598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.35; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 339.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828770 meters # Minimum depth: 67.682530 meters looking forward 200.000000 meters along route # Maximum depth: 104.103530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 17.682530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817581; longitude = -121.846488; captureRadius = 10; duration = 25; initialDepth = 17.682530; finalDepth = 16.014622; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.837976 # Actual altitude: 84.837976 # Commanded vehicle depth:17.68253 # Seafloor depth:-101.991597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 339.35; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.94; MB_Bottom_Detect_Filter_Max_Range = 339.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828787 meters # Minimum depth: 70.354865 meters looking forward 200.000000 meters along route # Maximum depth: 106.784526 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 20.354865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817523; longitude = -121.846768; captureRadius = 10; duration = 25; initialDepth = 20.354865; finalDepth = 17.682530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.309067 # Actual altitude: 84.309067 # Commanded vehicle depth:20.354865 # Seafloor depth:-104.572578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 337.24; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.72; MB_Bottom_Detect_Filter_Max_Range = 337.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828804 meters # Minimum depth: 77.115611 meters looking forward 200.000000 meters along route # Maximum depth: 109.976769 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.115611 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817464; longitude = -121.847049; captureRadius = 10; duration = 25; initialDepth = 27.115611; finalDepth = 20.354865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.217713 # Actual altitude: 84.217713 # Commanded vehicle depth:27.115611 # Seafloor depth:-107.462462 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 336.87; MB_Rate = 2; MB_Gain = 55; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.69; MB_Bottom_Detect_Filter_Max_Range = 336.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 252.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828821 meters # Minimum depth: 86.327736 meters looking forward 200.000000 meters along route # Maximum depth: 112.924996 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 36.327736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817405; longitude = -121.847329; captureRadius = 10; duration = 25; initialDepth = 36.327736; finalDepth = 27.115611; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 80.346851 # Actual altitude: 80.346851 # Commanded vehicle depth:36.327736 # Seafloor depth:-110.644551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 321.39; MB_Rate = 2; MB_Gain = 54; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.14; MB_Bottom_Detect_Filter_Max_Range = 321.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 241.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828837 meters # Minimum depth: 94.107255 meters looking forward 200.000000 meters along route # Maximum depth: 114.490933 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 44.107255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817347; longitude = -121.847609; captureRadius = 10; duration = 25; initialDepth = 44.107255; finalDepth = 36.327736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.316815 # Actual altitude: 74.316815 # Commanded vehicle depth:44.107255 # Seafloor depth:-113.243998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 297.27; MB_Rate = 2; MB_Gain = 54; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.73; MB_Bottom_Detect_Filter_Max_Range = 297.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 222.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 26.457124 meters # Minimum depth: 99.285862 meters looking forward 200.000000 meters along route # Maximum depth: 116.241506 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.285862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817288; longitude = -121.847889; captureRadius = 10; duration = 26; initialDepth = 49.285862; finalDepth = 44.107255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.136743 # Actual altitude: 69.136743 # Commanded vehicle depth:49.285862 # Seafloor depth:-114.771767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 276.55; MB_Rate = 2; MB_Gain = 54; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.65; MB_Bottom_Detect_Filter_Max_Range = 276.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.200602 meters # Minimum depth: 100.993298 meters looking forward 200.000000 meters along route # Maximum depth: 117.856865 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 50.993298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817228; longitude = -121.848176; captureRadius = 10; duration = 25; initialDepth = 50.993298; finalDepth = 49.285862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.485905 # Actual altitude: 65.485905 # Commanded vehicle depth:50.993298 # Seafloor depth:-116.296059 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.94; MB_Rate = 2; MB_Gain = 54; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.19; MB_Bottom_Detect_Filter_Max_Range = 261.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828888 meters # Minimum depth: 102.745655 meters looking forward 200.000000 meters along route # Maximum depth: 119.612799 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.745655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817170; longitude = -121.848450; captureRadius = 10; duration = 25; initialDepth = 52.745655; finalDepth = 50.993298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.302761 # Actual altitude: 65.302761 # Commanded vehicle depth:52.745655 # Seafloor depth:-117.882145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.21; MB_Rate = 2; MB_Gain = 53; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.12; MB_Bottom_Detect_Filter_Max_Range = 261.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828905 meters # Minimum depth: 106.221405 meters looking forward 200.000000 meters along route # Maximum depth: 120.586667 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 56.221405 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817112; longitude = -121.848730; captureRadius = 10; duration = 25; initialDepth = 56.221405; finalDepth = 52.745655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.13649 # Actual altitude: 65.13649 # Commanded vehicle depth:56.221405 # Seafloor depth:-119.644423 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 260.55; MB_Rate = 2; MB_Gain = 53; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.05; MB_Bottom_Detect_Filter_Max_Range = 260.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828921 meters # Minimum depth: 108.829878 meters looking forward 200.000000 meters along route # Maximum depth: 122.020015 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 58.829878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817053; longitude = -121.849010; captureRadius = 10; duration = 25; initialDepth = 58.829878; finalDepth = 56.221405; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.423018 # Actual altitude: 63.423018 # Commanded vehicle depth:58.829878 # Seafloor depth:-120.498656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 253.69; MB_Rate = 2; MB_Gain = 53; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.37; MB_Bottom_Detect_Filter_Max_Range = 253.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828939 meters # Minimum depth: 111.569949 meters looking forward 200.000000 meters along route # Maximum depth: 124.212314 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.569949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816994; longitude = -121.849290; captureRadius = 10; duration = 25; initialDepth = 61.569949; finalDepth = 58.829878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.668778 # Actual altitude: 61.668778 # Commanded vehicle depth:61.569949 # Seafloor depth:-122.685069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 246.68; MB_Rate = 2; MB_Gain = 53; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.67; MB_Bottom_Detect_Filter_Max_Range = 246.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828955 meters # Minimum depth: 114.063829 meters looking forward 200.000000 meters along route # Maximum depth: 126.964243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 64.063829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816936; longitude = -121.849570; captureRadius = 10; duration = 25; initialDepth = 64.063829; finalDepth = 61.569949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.11512 # Actual altitude: 61.11512 # Commanded vehicle depth:64.063829 # Seafloor depth:-124.674122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 244.46; MB_Rate = 2; MB_Gain = 52; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.45; MB_Bottom_Detect_Filter_Max_Range = 244.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.35; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828972 meters # Minimum depth: 115.726032 meters looking forward 200.000000 meters along route # Maximum depth: 129.251278 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.726032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816877; longitude = -121.849851; captureRadius = 10; duration = 25; initialDepth = 65.726032; finalDepth = 64.063829; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.399392 # Actual altitude: 61.399392 # Commanded vehicle depth:65.726032 # Seafloor depth:-127.125424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 245.60; MB_Rate = 2; MB_Gain = 52; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.56; MB_Bottom_Detect_Filter_Max_Range = 245.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.828989 meters # Minimum depth: 117.083549 meters looking forward 200.000000 meters along route # Maximum depth: 132.078964 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 67.083549 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816818; longitude = -121.850131; captureRadius = 10; duration = 25; initialDepth = 67.083549; finalDepth = 65.726032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.16043 # Actual altitude: 63.16043 # Commanded vehicle depth:67.083549 # Seafloor depth:-130.243979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 252.64; MB_Rate = 2; MB_Gain = 52; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.26; MB_Bottom_Detect_Filter_Max_Range = 252.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829006 meters # Minimum depth: 118.713682 meters looking forward 200.000000 meters along route # Maximum depth: 135.900878 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 68.713682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816759; longitude = -121.850411; captureRadius = 10; duration = 25; initialDepth = 68.713682; finalDepth = 67.083549; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.001326 # Actual altitude: 64.001326 # Commanded vehicle depth:68.713682 # Seafloor depth:-132.715008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 256.01; MB_Rate = 2; MB_Gain = 52; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.60; MB_Bottom_Detect_Filter_Max_Range = 256.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829023 meters # Minimum depth: 120.111513 meters looking forward 200.000000 meters along route # Maximum depth: 138.436296 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 70.111513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816701; longitude = -121.850691; captureRadius = 10; duration = 25; initialDepth = 70.111513; finalDepth = 68.713682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.08852 # Actual altitude: 66.08852 # Commanded vehicle depth:70.111513 # Seafloor depth:-136.200033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 264.35; MB_Rate = 2; MB_Gain = 51; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.44; MB_Bottom_Detect_Filter_Max_Range = 264.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829039 meters # Minimum depth: 121.414070 meters looking forward 200.000000 meters along route # Maximum depth: 141.068943 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 71.414070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816642; longitude = -121.850971; captureRadius = 10; duration = 25; initialDepth = 71.414070; finalDepth = 70.111513; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.744438 # Actual altitude: 67.744438 # Commanded vehicle depth:71.41407 # Seafloor depth:-139.158508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 270.98; MB_Rate = 2; MB_Gain = 51; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 270.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829056 meters # Minimum depth: 123.540465 meters looking forward 200.000000 meters along route # Maximum depth: 143.366784 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 73.540465 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816583; longitude = -121.851252; captureRadius = 10; duration = 25; initialDepth = 73.540465; finalDepth = 71.414070; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.88652 # Actual altitude: 67.88652 # Commanded vehicle depth:73.540465 # Seafloor depth:-141.426985 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.55; MB_Rate = 2; MB_Gain = 51; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.15; MB_Bottom_Detect_Filter_Max_Range = 271.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829073 meters # Minimum depth: 125.946215 meters looking forward 200.000000 meters along route # Maximum depth: 145.531126 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 75.946215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816525; longitude = -121.851532; captureRadius = 10; duration = 25; initialDepth = 75.946215; finalDepth = 73.540465; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.18979 # Actual altitude: 68.18979 # Commanded vehicle depth:75.946215 # Seafloor depth:-144.136005 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.76; MB_Rate = 2; MB_Gain = 51; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 272.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829090 meters # Minimum depth: 128.352881 meters looking forward 200.000000 meters along route # Maximum depth: 147.650782 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 78.352881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816466; longitude = -121.851812; captureRadius = 10; duration = 25; initialDepth = 78.352881; finalDepth = 75.946215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.18979 # Actual altitude: 68.18979 # Commanded vehicle depth:78.352881 # Seafloor depth:-146.115147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.76; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.28; MB_Bottom_Detect_Filter_Max_Range = 272.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829107 meters # Minimum depth: 130.570165 meters looking forward 200.000000 meters along route # Maximum depth: 150.000037 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 80.570165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816407; longitude = -121.852092; captureRadius = 10; duration = 25; initialDepth = 80.570165; finalDepth = 78.352881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.762266 # Actual altitude: 67.762266 # Commanded vehicle depth:80.570165 # Seafloor depth:-147.751086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 271.05; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.10; MB_Bottom_Detect_Filter_Max_Range = 271.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829124 meters # Minimum depth: 134.025065 meters looking forward 200.000000 meters along route # Maximum depth: 151.648256 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 84.025065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816348; longitude = -121.852372; captureRadius = 10; duration = 25; initialDepth = 84.025065; finalDepth = 80.570165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.180921 # Actual altitude: 67.180921 # Commanded vehicle depth:84.025065 # Seafloor depth:-150.338676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 268.72; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.87; MB_Bottom_Detect_Filter_Max_Range = 268.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829140 meters # Minimum depth: 137.809489 meters looking forward 200.000000 meters along route # Maximum depth: 153.048598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 87.809489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816290; longitude = -121.852653; captureRadius = 10; duration = 25; initialDepth = 87.809489; finalDepth = 84.025065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.313611 # Actual altitude: 66.313611 # Commanded vehicle depth:87.809489 # Seafloor depth:-151.914893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.25; MB_Rate = 2; MB_Gain = 50; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 265.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829158 meters # Minimum depth: 140.097539 meters looking forward 200.000000 meters along route # Maximum depth: 155.044849 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.097539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816231; longitude = -121.852933; captureRadius = 10; duration = 25; initialDepth = 90.097539; finalDepth = 87.809489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.105404 # Actual altitude: 64.105404 # Commanded vehicle depth:90.097539 # Seafloor depth:-153.155920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 256.42; MB_Rate = 2; MB_Gain = 49; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.64; MB_Bottom_Detect_Filter_Max_Range = 256.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829174 meters # Minimum depth: 141.838763 meters looking forward 200.000000 meters along route # Maximum depth: 157.510970 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 91.838763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816172; longitude = -121.853213; captureRadius = 10; duration = 25; initialDepth = 91.838763; finalDepth = 90.097539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.638735 # Actual altitude: 63.638735 # Commanded vehicle depth:91.838763 # Seafloor depth:-155.477498 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 254.55; MB_Rate = 2; MB_Gain = 49; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.55; 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 6 # Segment length 25.829191 meters # Minimum depth: 145.261138 meters looking forward 200.000000 meters along route # Maximum depth: 157.628561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 95.261138 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816114; longitude = -121.853493; captureRadius = 10; duration = 25; initialDepth = 95.261138; finalDepth = 91.838763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.638735 # Actual altitude: 63.638735 # Commanded vehicle depth:95.261138 # Seafloor depth:-157.628561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 254.55; MB_Rate = 2; MB_Gain = 49; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.46; MB_Bottom_Detect_Filter_Max_Range = 254.55; 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 6 # Segment length 26.178251 meters # Minimum depth: 147.019345 meters looking forward 200.000000 meters along route # Maximum depth: 157.628561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 97.019345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816055; longitude = -121.853773; captureRadius = 10; duration = 26; initialDepth = 97.019345; finalDepth = 95.261138; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.367423 # Actual altitude: 62.367423 # Commanded vehicle depth:97.019345 # Seafloor depth:-156.230140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 249.47; MB_Rate = 2; MB_Gain = 49; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 249.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.480181 meters # Minimum depth: 148.746431 meters looking forward 200.000000 meters along route # Maximum depth: 157.628561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 98.746431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815995; longitude = -121.854057; captureRadius = 10; duration = 25; initialDepth = 98.746431; finalDepth = 97.019345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.210795 # Actual altitude: 59.210795 # Commanded vehicle depth:98.746431 # Seafloor depth:-154.537158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 236.84; MB_Rate = 2; MB_Gain = 48; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.68; MB_Bottom_Detect_Filter_Max_Range = 236.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829242 meters # Minimum depth: 150.755312 meters looking forward 200.000000 meters along route # Maximum depth: 157.628561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 100.755312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815937; longitude = -121.854334; captureRadius = 10; duration = 25; initialDepth = 100.755312; finalDepth = 98.746431; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.790727 # Actual altitude: 55.790727 # Commanded vehicle depth:100.755312 # Seafloor depth:-153.243069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.16; MB_Rate = 2; MB_Gain = 48; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.32; MB_Bottom_Detect_Filter_Max_Range = 223.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829258 meters # Minimum depth: 152.407718 meters looking forward 200.000000 meters along route # Maximum depth: 157.628561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.407718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815879; longitude = -121.854614; captureRadius = 10; duration = 25; initialDepth = 102.407718; finalDepth = 100.755312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.487757 # Actual altitude: 52.487757 # Commanded vehicle depth:102.407718 # Seafloor depth:-153.102397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.95; MB_Rate = 2; MB_Gain = 48; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.00; MB_Bottom_Detect_Filter_Max_Range = 209.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829275 meters # Minimum depth: 152.832850 meters looking forward 200.000000 meters along route # Maximum depth: 157.628561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.832850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815820; longitude = -121.854894; captureRadius = 10; duration = 25; initialDepth = 102.832850; finalDepth = 102.407718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.694679 # Actual altitude: 50.694679 # Commanded vehicle depth:102.83285 # Seafloor depth:-152.990027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.78; MB_Rate = 2; MB_Gain = 48; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829292 meters # Minimum depth: 152.832850 meters looking forward 200.000000 meters along route # Maximum depth: 157.628561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.832850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815761; longitude = -121.855174; captureRadius = 10; duration = 25; initialDepth = 102.832850; finalDepth = 102.832850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.554165 # Actual altitude: 50.554165 # Commanded vehicle depth:102.83285 # Seafloor depth:-153.387015 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.22; MB_Rate = 2; MB_Gain = 47; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829309 meters # Minimum depth: 152.832850 meters looking forward 200.000000 meters along route # Maximum depth: 157.205021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.832850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815702; longitude = -121.855455; captureRadius = 10; duration = 25; initialDepth = 102.832850; finalDepth = 102.832850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.902238 # Actual altitude: 50.902238 # Commanded vehicle depth:102.83285 # Seafloor depth:-153.735088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.61; MB_Rate = 2; MB_Gain = 47; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829326 meters # Minimum depth: 152.832850 meters looking forward 200.000000 meters along route # Maximum depth: 155.252751 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.832850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815644; longitude = -121.855735; captureRadius = 10; duration = 25; initialDepth = 102.832850; finalDepth = 102.832850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.902238 # Actual altitude: 50.902238 # Commanded vehicle depth:102.83285 # Seafloor depth:-153.589158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.61; MB_Rate = 2; MB_Gain = 47; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829342 meters # Minimum depth: 152.832850 meters looking forward 200.000000 meters along route # Maximum depth: 153.991464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.832850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815585; longitude = -121.856015; captureRadius = 10; duration = 25; initialDepth = 102.832850; finalDepth = 102.832850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.158614 # Actual altitude: 51.158614 # Commanded vehicle depth:102.83285 # Seafloor depth:-153.991464 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.63; MB_Rate = 2; MB_Gain = 47; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829360 meters # Minimum depth: 152.832850 meters looking forward 200.000000 meters along route # Maximum depth: 153.991464 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.832850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815526; longitude = -121.856295; captureRadius = 10; duration = 25; initialDepth = 102.832850; finalDepth = 102.832850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.158614 # Actual altitude: 51.158614 # Commanded vehicle depth:102.83285 # Seafloor depth:-153.886449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.63; MB_Rate = 2; MB_Gain = 46; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829376 meters # Minimum depth: 152.938805 meters looking forward 200.000000 meters along route # Maximum depth: 154.169007 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.938805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815468; longitude = -121.856575; captureRadius = 10; duration = 25; initialDepth = 102.938805; finalDepth = 102.832850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.230202 # Actual altitude: 51.230202 # Commanded vehicle depth:102.938805 # Seafloor depth:-154.169007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.92; MB_Rate = 2; MB_Gain = 46; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829393 meters # Minimum depth: 152.938805 meters looking forward 200.000000 meters along route # Maximum depth: 154.501309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.938805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815409; longitude = -121.856856; captureRadius = 10; duration = 25; initialDepth = 102.938805; finalDepth = 102.938805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.562504 # Actual altitude: 51.562504 # Commanded vehicle depth:102.938805 # Seafloor depth:-154.501309 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.25; MB_Rate = 2; MB_Gain = 46; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829410 meters # Minimum depth: 153.435244 meters looking forward 200.000000 meters along route # Maximum depth: 154.501309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 103.435244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815350; longitude = -121.857136; captureRadius = 10; duration = 25; initialDepth = 103.435244; finalDepth = 102.938805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.562504 # Actual altitude: 51.562504 # Commanded vehicle depth:103.435244 # Seafloor depth:-154.436293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.25; MB_Rate = 2; MB_Gain = 46; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.63; MB_Bottom_Detect_Filter_Max_Range = 206.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829426 meters # Minimum depth: 153.435244 meters looking forward 200.000000 meters along route # Maximum depth: 154.501309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 103.435244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815291; longitude = -121.857416; captureRadius = 10; duration = 25; initialDepth = 103.435244; finalDepth = 103.435244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.001049 # Actual altitude: 51.001049 # Commanded vehicle depth:103.435244 # Seafloor depth:-154.320579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829444 meters # Minimum depth: 153.435244 meters looking forward 200.000000 meters along route # Maximum depth: 154.501309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 103.435244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815233; longitude = -121.857696; captureRadius = 10; duration = 25; initialDepth = 103.435244; finalDepth = 103.435244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.885335 # Actual altitude: 50.885335 # Commanded vehicle depth:103.435244 # Seafloor depth:-153.836459 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.54; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829460 meters # Minimum depth: 152.486855 meters looking forward 200.000000 meters along route # Maximum depth: 154.501309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.486855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815174; longitude = -121.857976; captureRadius = 10; duration = 25; initialDepth = 102.486855; finalDepth = 103.435244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.228158 # Actual altitude: 51.228158 # Commanded vehicle depth:102.486855 # Seafloor depth:-153.715013 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.91; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829478 meters # Minimum depth: 149.405059 meters looking forward 200.000000 meters along route # Maximum depth: 154.501309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.405059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815115; longitude = -121.858257; captureRadius = 10; duration = 25; initialDepth = 99.405059; finalDepth = 102.486855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.023391 # Actual altitude: 53.023391 # Commanded vehicle depth:99.405059 # Seafloor depth:-152.428450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.09; MB_Rate = 2; MB_Gain = 45; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829494 meters # Minimum depth: 142.911385 meters looking forward 200.000000 meters along route # Maximum depth: 154.501309 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 92.911385 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815057; longitude = -121.858537; captureRadius = 10; duration = 25; initialDepth = 92.911385; finalDepth = 99.405059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.770405 # Actual altitude: 55.770405 # Commanded vehicle depth:92.911385 # Seafloor depth:-148.681790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.08; MB_Rate = 2; MB_Gain = 44; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829511 meters # Minimum depth: 137.244419 meters looking forward 200.000000 meters along route # Maximum depth: 154.436293 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 87.244419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814998; longitude = -121.858817; captureRadius = 10; duration = 25; initialDepth = 87.244419; finalDepth = 92.911385; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.770405 # Actual altitude: 55.770405 # Commanded vehicle depth:87.244419 # Seafloor depth:-142.148687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.08; MB_Rate = 2; MB_Gain = 44; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.31; MB_Bottom_Detect_Filter_Max_Range = 223.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829527 meters # Minimum depth: 130.436964 meters looking forward 200.000000 meters along route # Maximum depth: 154.413500 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 80.436964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814939; longitude = -121.859097; captureRadius = 10; duration = 25; initialDepth = 80.436964; finalDepth = 87.244419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.32258 # Actual altitude: 55.32258 # Commanded vehicle depth:80.436964 # Seafloor depth:-135.759544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.29; MB_Rate = 2; MB_Gain = 44; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829545 meters # Minimum depth: 125.148443 meters looking forward 200.000000 meters along route # Maximum depth: 154.141619 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 75.148443 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814880; longitude = -121.859377; captureRadius = 10; duration = 25; initialDepth = 75.148443; finalDepth = 80.436964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.32258 # Actual altitude: 55.32258 # Commanded vehicle depth:75.148443 # Seafloor depth:-130.042526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.29; MB_Rate = 2; MB_Gain = 44; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.13; MB_Bottom_Detect_Filter_Max_Range = 221.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.899371 meters # Minimum depth: 117.246861 meters looking forward 200.000000 meters along route # Maximum depth: 153.863502 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 67.246861 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814822; longitude = -121.859658; captureRadius = 10; duration = 25; initialDepth = 67.246861; finalDepth = 75.148443; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.510882 # Actual altitude: 56.510882 # Commanded vehicle depth:67.246861 # Seafloor depth:-123.757743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.04; MB_Rate = 2; MB_Gain = 43; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 226.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.759769 meters # Minimum depth: 113.062528 meters looking forward 200.000000 meters along route # Maximum depth: 153.300625 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 63.062528 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814763; longitude = -121.859938; captureRadius = 10; duration = 25; initialDepth = 63.062528; finalDepth = 67.246861; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.510882 # Actual altitude: 56.510882 # Commanded vehicle depth:63.062528 # Seafloor depth:-117.241174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 226.04; MB_Rate = 2; MB_Gain = 43; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.60; MB_Bottom_Detect_Filter_Max_Range = 226.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829595 meters # Minimum depth: 108.970650 meters looking forward 200.000000 meters along route # Maximum depth: 151.747102 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 58.970650 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814704; longitude = -121.860218; captureRadius = 10; duration = 25; initialDepth = 58.970650; finalDepth = 63.062528; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.178646 # Actual altitude: 54.178646 # Commanded vehicle depth:58.97065 # Seafloor depth:-112.880282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 216.71; MB_Rate = 2; MB_Gain = 43; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829612 meters # Minimum depth: 106.686023 meters looking forward 200.000000 meters along route # Maximum depth: 145.758510 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 56.686023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814646; longitude = -121.860498; captureRadius = 10; duration = 25; initialDepth = 56.686023; finalDepth = 58.970650; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.909632 # Actual altitude: 53.909632 # Commanded vehicle depth:56.686023 # Seafloor depth:-108.934993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 215.64; MB_Rate = 2; MB_Gain = 43; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.56; MB_Bottom_Detect_Filter_Max_Range = 215.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829629 meters # Minimum depth: 102.249449 meters looking forward 200.000000 meters along route # Maximum depth: 140.325051 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 52.249449 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814587; longitude = -121.860778; captureRadius = 10; duration = 25; initialDepth = 52.249449; finalDepth = 56.686023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.879574 # Actual altitude: 53.879574 # Commanded vehicle depth:52.249449 # Seafloor depth:-106.129023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 215.52; MB_Rate = 2; MB_Gain = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829645 meters # Minimum depth: 99.286673 meters looking forward 200.000000 meters along route # Maximum depth: 133.629669 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.286673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814528; longitude = -121.861059; captureRadius = 10; duration = 25; initialDepth = 49.286673; finalDepth = 52.249449; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.879574 # Actual altitude: 53.879574 # Commanded vehicle depth:49.286673 # Seafloor depth:-101.379683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 215.52; MB_Rate = 2; MB_Gain = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.55; MB_Bottom_Detect_Filter_Max_Range = 215.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829663 meters # Minimum depth: 93.610523 meters looking forward 200.000000 meters along route # Maximum depth: 126.804887 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 43.610523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814469; longitude = -121.861339; captureRadius = 10; duration = 25; initialDepth = 43.610523; finalDepth = 49.286673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.141601 # Actual altitude: 55.141601 # Commanded vehicle depth:43.610523 # Seafloor depth:-98.752124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 220.57; MB_Rate = 2; MB_Gain = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829679 meters # Minimum depth: 90.893756 meters looking forward 200.000000 meters along route # Maximum depth: 120.481816 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 40.893756 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814411; longitude = -121.861619; captureRadius = 10; duration = 25; initialDepth = 40.893756; finalDepth = 43.610523; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.141601 # Actual altitude: 55.141601 # Commanded vehicle depth:40.893756 # Seafloor depth:-93.538045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 220.57; MB_Rate = 2; MB_Gain = 42; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.06; MB_Bottom_Detect_Filter_Max_Range = 220.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829697 meters # Minimum depth: 88.435599 meters looking forward 200.000000 meters along route # Maximum depth: 115.866141 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 38.435599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814352; longitude = -121.861899; captureRadius = 10; duration = 25; initialDepth = 38.435599; finalDepth = 40.893756; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.644289 # Actual altitude: 52.644289 # Commanded vehicle depth:38.435599 # Seafloor depth:-90.142872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.58; MB_Rate = 2; MB_Gain = 41; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.06; MB_Bottom_Detect_Filter_Max_Range = 210.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829713 meters # Minimum depth: 86.553062 meters looking forward 200.000000 meters along route # Maximum depth: 111.013561 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 36.553062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814293; longitude = -121.862179; captureRadius = 10; duration = 25; initialDepth = 36.553062; finalDepth = 38.435599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.707273 # Actual altitude: 51.707273 # Commanded vehicle depth:36.553062 # Seafloor depth:-88.088617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.83; MB_Rate = 2; MB_Gain = 41; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 25.829730 meters # Minimum depth: 85.144660 meters looking forward 200.000000 meters along route # Maximum depth: 108.027171 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 35.144660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814235; longitude = -121.862460; captureRadius = 10; duration = 25; initialDepth = 35.144660; finalDepth = 36.553062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.535555 # Actual altitude: 51.535555 # Commanded vehicle depth:35.14466 # Seafloor depth:-86.439656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.14; MB_Rate = 2; MB_Gain = 41; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.61; MB_Bottom_Detect_Filter_Max_Range = 206.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 29.273714 meters # Minimum depth: 83.457881 meters looking forward 200.000000 meters along route # Maximum depth: 104.350598 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 33.457881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814176; longitude = -121.862740; captureRadius = 10; duration = 29; initialDepth = 33.457881; finalDepth = 35.144660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.606401 # Actual altitude: 51.606401 # Commanded vehicle depth:33.457881 # Seafloor depth:-85.064282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 41; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 13.282139 meters # Minimum depth: 83.234155 meters looking forward 200.000000 meters along route # Maximum depth: 101.379683 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 33.234155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814109; longitude = -121.863057; captureRadius = 10; duration = 13; # abortOnTimeout = True; initialDepth = 33.234155; finalDepth = 33.457881; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.606401 # Actual altitude: 51.606401 # Commanded vehicle depth:33.234155 # Seafloor depth:-83.400380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.43; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 25.040109 meters # Minimum depth: 82.798942 meters looking forward 200.000000 meters along route # Maximum depth: 98.752124 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 32.798942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814006; longitude = -121.863132; captureRadius = 10; duration = 25; initialDepth = 32.798942; finalDepth = 33.234155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.351116 # Actual altitude: 50.351116 # Commanded vehicle depth:32.798942 # Seafloor depth:-83.150058 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.40; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741708 meters # Minimum depth: 82.497161 meters looking forward 200.000000 meters along route # Maximum depth: 93.538045 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 32.497161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813810; longitude = -121.863273; captureRadius = 10; duration = 28; initialDepth = 32.497161; finalDepth = 32.798942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.351116 # Actual altitude: 50.351116 # Commanded vehicle depth:32.497161 # Seafloor depth:-82.741129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.40; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741728 meters # Minimum depth: 81.864882 meters looking forward 200.000000 meters along route # Maximum depth: 89.817096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 31.864882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813586; longitude = -121.863435; captureRadius = 10; duration = 28; initialDepth = 31.864882; finalDepth = 32.497161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.495007 # Actual altitude: 50.495007 # Commanded vehicle depth:31.864882 # Seafloor depth:-82.359889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.98; MB_Rate = 2; MB_Gain = 40; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741747 meters # Minimum depth: 81.323347 meters looking forward 200.000000 meters along route # Maximum depth: 87.091880 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 31.323347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813362; longitude = -121.863596; captureRadius = 10; duration = 28; initialDepth = 31.323347; finalDepth = 31.864882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.495007 # Actual altitude: 50.495007 # Commanded vehicle depth:31.323347 # Seafloor depth:-81.806837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.98; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741766 meters # Minimum depth: 81.156793 meters looking forward 200.000000 meters along route # Maximum depth: 85.716072 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 31.156793 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813138; longitude = -121.863758; captureRadius = 10; duration = 28; initialDepth = 31.156793; finalDepth = 31.323347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.48349 # Actual altitude: 50.48349 # Commanded vehicle depth:31.156793 # Seafloor depth:-81.374763 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.93; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 29.340573 meters # Minimum depth: 80.475850 meters looking forward 200.000000 meters along route # Maximum depth: 84.133050 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 30.475850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812914; longitude = -121.863920; captureRadius = 10; duration = 29; initialDepth = 30.475850; finalDepth = 31.156793; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.670454 # Actual altitude: 50.670454 # Commanded vehicle depth:30.47585 # Seafloor depth:-81.146304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.68; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 29.884945 meters # Minimum depth: 79.810037 meters looking forward 200.000000 meters along route # Maximum depth: 83.150058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.810037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812685; longitude = -121.864085; captureRadius = 10; duration = 29; initialDepth = 29.810037; finalDepth = 30.475850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.721938 # Actual altitude: 50.721938 # Commanded vehicle depth:29.810037 # Seafloor depth:-80.531975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.89; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 29.884967 meters # Minimum depth: 79.494971 meters looking forward 200.000000 meters along route # Maximum depth: 82.762867 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.494971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812452; longitude = -121.864253; captureRadius = 10; duration = 29; initialDepth = 29.494971; finalDepth = 29.810037; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.721938 # Actual altitude: 50.721938 # Commanded vehicle depth:29.494971 # Seafloor depth:-79.972349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.89; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 25.856773 meters # Minimum depth: 79.231908 meters looking forward 200.000000 meters along route # Maximum depth: 82.217612 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.231908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812219; longitude = -121.864421; captureRadius = 10; duration = 25; initialDepth = 29.231908; finalDepth = 29.494971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.511863 # Actual altitude: 50.511863 # Commanded vehicle depth:29.231908 # Seafloor depth:-79.743771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741862 meters # Minimum depth: 79.199896 meters looking forward 200.000000 meters along route # Maximum depth: 81.742270 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.199896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812018; longitude = -121.864566; captureRadius = 10; duration = 28; initialDepth = 29.199896; finalDepth = 29.231908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.511863 # Actual altitude: 50.511863 # Commanded vehicle depth:29.199896 # Seafloor depth:-79.199896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741882 meters # Minimum depth: 78.495570 meters looking forward 200.000000 meters along route # Maximum depth: 81.510463 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.495570 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811794; longitude = -121.864728; captureRadius = 10; duration = 28; initialDepth = 28.495570; finalDepth = 29.199896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.772329 # Actual altitude: 50.772329 # Commanded vehicle depth:28.49557 # Seafloor depth:-79.267899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.09; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741901 meters # Minimum depth: 78.135768 meters looking forward 200.000000 meters along route # Maximum depth: 80.971448 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.135768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811570; longitude = -121.864890; captureRadius = 10; duration = 28; initialDepth = 28.135768; finalDepth = 28.495570; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.772329 # Actual altitude: 50.772329 # Commanded vehicle depth:28.135768 # Seafloor depth:-78.468262 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.09; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741921 meters # Minimum depth: 77.847262 meters looking forward 200.000000 meters along route # Maximum depth: 80.508031 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.847262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811346; longitude = -121.865051; captureRadius = 10; duration = 28; initialDepth = 27.847262; finalDepth = 28.135768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.332494 # Actual altitude: 50.332494 # Commanded vehicle depth:27.847262 # Seafloor depth:-78.001704 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.33; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 28.741939 meters # Minimum depth: 77.844168 meters looking forward 200.000000 meters along route # Maximum depth: 79.972349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.844168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811121; longitude = -121.865213; captureRadius = 10; duration = 28; initialDepth = 27.844168; finalDepth = 27.847262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.247301 # Actual altitude: 50.247301 # Commanded vehicle depth:27.844168 # Seafloor depth:-78.091469 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.99; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 200.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 26.346795 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 79.862266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810897; longitude = -121.865375; captureRadius = 10; duration = 26; initialDepth = 27.553105; finalDepth = 27.844168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.290199 # Actual altitude: 50.290199 # Commanded vehicle depth:27.553105 # Seafloor depth:-77.843304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.16; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 8.340533 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 79.862266 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810692; longitude = -121.865523; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.290199 # Actual altitude: 50.290199 # Commanded vehicle depth:27.553105 # Seafloor depth:-77.725382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.16; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021602 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 79.530477 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810689; longitude = -121.865430; captureRadius = 10; duration = 25; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.172277 # Actual altitude: 50.172277 # Commanded vehicle depth:27.553105 # Seafloor depth:-77.677391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.69; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021608 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 79.267899 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810678; longitude = -121.865149; captureRadius = 10; duration = 25; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.16694 # Actual altitude: 50.16694 # Commanded vehicle depth:27.553105 # Seafloor depth:-77.720045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.67; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021612 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 78.852175 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810668; longitude = -121.864869; captureRadius = 10; duration = 25; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.780842 # Actual altitude: 50.780842 # Commanded vehicle depth:27.553105 # Seafloor depth:-78.333947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.12; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021616 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 81.184089 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810658; longitude = -121.864589; captureRadius = 10; duration = 25; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.45764 # Actual altitude: 51.45764 # Commanded vehicle depth:27.553105 # Seafloor depth:-79.010745 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.83; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021622 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 87.442889 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810648; longitude = -121.864309; captureRadius = 10; duration = 25; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.606345 # Actual altitude: 54.606345 # Commanded vehicle depth:27.553105 # Seafloor depth:-82.159450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 218.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.84; MB_Bottom_Detect_Filter_Max_Range = 218.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021627 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 93.070096 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810637; longitude = -121.864029; captureRadius = 10; duration = 25; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.725298 # Actual altitude: 60.725298 # Commanded vehicle depth:27.553105 # Seafloor depth:-88.278403 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 242.90; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.29; MB_Bottom_Detect_Filter_Max_Range = 242.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021631 meters # Minimum depth: 77.553105 meters looking forward 200.000000 meters along route # Maximum depth: 99.199156 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.553105 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810627; longitude = -121.863748; captureRadius = 10; duration = 25; initialDepth = 27.553105; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.315092 # Actual altitude: 66.315092 # Commanded vehicle depth:27.553105 # Seafloor depth:-93.868197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 265.26; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.53; MB_Bottom_Detect_Filter_Max_Range = 265.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021637 meters # Minimum depth: 77.720045 meters looking forward 200.000000 meters along route # Maximum depth: 104.793438 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.720045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810617; longitude = -121.863468; captureRadius = 10; duration = 25; initialDepth = 27.720045; finalDepth = 27.553105; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.589552 # Actual altitude: 71.589552 # Commanded vehicle depth:27.720045 # Seafloor depth:-99.309597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 286.36; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.64; MB_Bottom_Detect_Filter_Max_Range = 286.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021641 meters # Minimum depth: 77.877539 meters looking forward 200.000000 meters along route # Maximum depth: 111.069460 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 27.877539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810607; longitude = -121.863188; captureRadius = 10; duration = 25; initialDepth = 27.877539; finalDepth = 27.720045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.901828 # Actual altitude: 77.901828 # Commanded vehicle depth:27.877539 # Seafloor depth:-105.779367 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.61; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 311.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021646 meters # Minimum depth: 78.419259 meters looking forward 200.000000 meters along route # Maximum depth: 119.023673 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 28.419259 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810597; longitude = -121.862908; captureRadius = 10; duration = 25; initialDepth = 28.419259; finalDepth = 27.877539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 83.965659 # Actual altitude: 83.965659 # Commanded vehicle depth:28.419259 # Seafloor depth:-112.384918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 335.86; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.59; MB_Bottom_Detect_Filter_Max_Range = 335.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 251.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021652 meters # Minimum depth: 79.122786 meters looking forward 200.000000 meters along route # Maximum depth: 126.476663 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 29.122786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810586; longitude = -121.862628; captureRadius = 10; duration = 25; initialDepth = 29.122786; finalDepth = 28.419259; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 91.415527 # Actual altitude: 91.415527 # Commanded vehicle depth:29.122786 # Seafloor depth:-120.538313 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 365.66; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.57; MB_Bottom_Detect_Filter_Max_Range = 365.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 274.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021656 meters # Minimum depth: 83.274475 meters looking forward 200.000000 meters along route # Maximum depth: 135.428913 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 33.274475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810576; longitude = -121.862347; captureRadius = 10; duration = 25; initialDepth = 33.274475; finalDepth = 29.122786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.990856 # Actual altitude: 94.990856 # Commanded vehicle depth:33.274475 # Seafloor depth:-128.265331 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 379.96; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.00; MB_Bottom_Detect_Filter_Max_Range = 379.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 284.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021660 meters # Minimum depth: 89.133433 meters looking forward 200.000000 meters along route # Maximum depth: 141.924232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 39.133433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810566; longitude = -121.862067; captureRadius = 10; duration = 25; initialDepth = 39.133433; finalDepth = 33.274475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.927713 # Actual altitude: 97.927713 # Commanded vehicle depth:39.133433 # Seafloor depth:-137.061146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 391.71; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 391.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021666 meters # Minimum depth: 95.185809 meters looking forward 200.000000 meters along route # Maximum depth: 149.520937 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.185809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810556; longitude = -121.861787; captureRadius = 10; duration = 25; initialDepth = 45.185809; finalDepth = 39.133433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 97.927713 # Actual altitude: 97.927713 # Commanded vehicle depth:45.185809 # Seafloor depth:-142.649724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 391.71; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.17; MB_Bottom_Detect_Filter_Max_Range = 391.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 293.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021671 meters # Minimum depth: 101.089375 meters looking forward 200.000000 meters along route # Maximum depth: 153.480634 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.089375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810545; longitude = -121.861507; captureRadius = 10; duration = 25; initialDepth = 51.089375; finalDepth = 45.185809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.855243 # Actual altitude: 99.855243 # Commanded vehicle depth:51.089375 # Seafloor depth:-150.944618 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 399.42; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 399.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021675 meters # Minimum depth: 107.216856 meters looking forward 200.000000 meters along route # Maximum depth: 156.173125 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 57.216856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810535; longitude = -121.861227; captureRadius = 10; duration = 25; initialDepth = 57.216856; finalDepth = 51.089375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.855243 # Actual altitude: 99.855243 # Commanded vehicle depth:57.216856 # Seafloor depth:-154.036285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 399.42; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.94; MB_Bottom_Detect_Filter_Max_Range = 399.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021681 meters # Minimum depth: 113.717299 meters looking forward 200.000000 meters along route # Maximum depth: 160.416303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 63.717299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810525; longitude = -121.860946; captureRadius = 10; duration = 25; initialDepth = 63.717299; finalDepth = 57.216856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.819429 # Actual altitude: 96.819429 # Commanded vehicle depth:63.717299 # Seafloor depth:-157.037574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 387.28; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.73; MB_Bottom_Detect_Filter_Max_Range = 387.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021685 meters # Minimum depth: 121.905978 meters looking forward 200.000000 meters along route # Maximum depth: 164.301082 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 71.905978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810515; longitude = -121.860666; captureRadius = 10; duration = 25; initialDepth = 71.905978; finalDepth = 63.717299; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.320275 # Actual altitude: 93.320275 # Commanded vehicle depth:71.905978 # Seafloor depth:-160.999432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 373.28; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.33; MB_Bottom_Detect_Filter_Max_Range = 373.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021690 meters # Minimum depth: 130.020763 meters looking forward 200.000000 meters along route # Maximum depth: 166.218482 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 80.020763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810504; longitude = -121.860386; captureRadius = 10; duration = 25; initialDepth = 80.020763; finalDepth = 71.905978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.093454 # Actual altitude: 89.093454 # Commanded vehicle depth:80.020763 # Seafloor depth:-164.736165 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 356.37; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.64; MB_Bottom_Detect_Filter_Max_Range = 356.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 267.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021696 meters # Minimum depth: 138.682886 meters looking forward 200.000000 meters along route # Maximum depth: 169.083720 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 88.682886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810494; longitude = -121.860106; captureRadius = 10; duration = 25; initialDepth = 88.682886; finalDepth = 80.020763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.715402 # Actual altitude: 84.715402 # Commanded vehicle depth:88.682886 # Seafloor depth:-166.587371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 338.86; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.89; MB_Bottom_Detect_Filter_Max_Range = 338.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021700 meters # Minimum depth: 144.716798 meters looking forward 200.000000 meters along route # Maximum depth: 171.673609 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.716798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810484; longitude = -121.859826; captureRadius = 10; duration = 25; initialDepth = 94.716798; finalDepth = 88.682886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.904485 # Actual altitude: 77.904485 # Commanded vehicle depth:94.716798 # Seafloor depth:-169.673993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 311.62; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.16; MB_Bottom_Detect_Filter_Max_Range = 311.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021704 meters # Minimum depth: 152.131569 meters looking forward 200.000000 meters along route # Maximum depth: 172.852384 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.131569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810474; longitude = -121.859545; captureRadius = 10; duration = 25; initialDepth = 102.131569; finalDepth = 94.716798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 74.957195 # Actual altitude: 74.957195 # Commanded vehicle depth:102.131569 # Seafloor depth:-171.803840 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 299.83; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 29.98; MB_Bottom_Detect_Filter_Max_Range = 299.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 224.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021710 meters # Minimum depth: 154.686100 meters looking forward 200.000000 meters along route # Maximum depth: 174.625326 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.686100 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810464; longitude = -121.859265; captureRadius = 10; duration = 25; initialDepth = 104.686100; finalDepth = 102.131569; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.672271 # Actual altitude: 69.672271 # Commanded vehicle depth:104.6861 # Seafloor depth:-172.814174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 278.69; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.87; MB_Bottom_Detect_Filter_Max_Range = 278.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 209.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021715 meters # Minimum depth: 157.799201 meters looking forward 200.000000 meters along route # Maximum depth: 176.103657 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 107.799201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810453; longitude = -121.858985; captureRadius = 10; duration = 25; initialDepth = 107.799201; finalDepth = 104.686100; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.128074 # Actual altitude: 68.128074 # Commanded vehicle depth:107.799201 # Seafloor depth:-175.157746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 272.51; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.25; MB_Bottom_Detect_Filter_Max_Range = 272.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 204.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021719 meters # Minimum depth: 161.093212 meters looking forward 200.000000 meters along route # Maximum depth: 177.376623 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 111.093212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810443; longitude = -121.858705; captureRadius = 10; duration = 25; initialDepth = 111.093212; finalDepth = 107.799201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.358545 # Actual altitude: 67.358545 # Commanded vehicle depth:111.093212 # Seafloor depth:-176.452604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 269.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.94; MB_Bottom_Detect_Filter_Max_Range = 269.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021725 meters # Minimum depth: 165.127035 meters looking forward 200.000000 meters along route # Maximum depth: 179.508632 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 115.127035 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810433; longitude = -121.858425; captureRadius = 10; duration = 25; initialDepth = 115.127035; finalDepth = 111.093212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.359392 # Actual altitude: 65.359392 # Commanded vehicle depth:115.127035 # Seafloor depth:-177.899661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 261.44; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.14; MB_Bottom_Detect_Filter_Max_Range = 261.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021729 meters # Minimum depth: 167.151368 meters looking forward 200.000000 meters along route # Maximum depth: 180.894489 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 117.151368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810423; longitude = -121.858144; captureRadius = 10; duration = 25; initialDepth = 117.151368; finalDepth = 115.127035; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.772626 # Actual altitude: 62.772626 # Commanded vehicle depth:117.151368 # Seafloor depth:-179.537085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 251.09; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.11; MB_Bottom_Detect_Filter_Max_Range = 251.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021734 meters # Minimum depth: 169.878295 meters looking forward 200.000000 meters along route # Maximum depth: 182.290189 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 119.878295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810412; longitude = -121.857864; captureRadius = 10; duration = 25; initialDepth = 119.878295; finalDepth = 117.151368; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.385717 # Actual altitude: 62.385717 # Commanded vehicle depth:119.878295 # Seafloor depth:-181.107119 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 249.54; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.95; MB_Bottom_Detect_Filter_Max_Range = 249.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021740 meters # Minimum depth: 171.937040 meters looking forward 200.000000 meters along route # Maximum depth: 183.789901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.937040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810402; longitude = -121.857584; captureRadius = 10; duration = 25; initialDepth = 121.937040; finalDepth = 119.878295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.228824 # Actual altitude: 61.228824 # Commanded vehicle depth:121.93704 # Seafloor depth:-182.819835 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 244.92; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.49; MB_Bottom_Detect_Filter_Max_Range = 244.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021744 meters # Minimum depth: 172.924496 meters looking forward 200.000000 meters along route # Maximum depth: 184.611174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 122.924496 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810392; longitude = -121.857304; captureRadius = 10; duration = 25; initialDepth = 122.924496; finalDepth = 121.937040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.088863 # Actual altitude: 61.088863 # Commanded vehicle depth:122.924496 # Seafloor depth:-184.013359 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 244.36; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 244.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021748 meters # Minimum depth: 175.523564 meters looking forward 200.000000 meters along route # Maximum depth: 184.707215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 125.523564 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810382; longitude = -121.857024; captureRadius = 10; duration = 25; initialDepth = 125.523564; finalDepth = 122.924496; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.088863 # Actual altitude: 61.088863 # Commanded vehicle depth:125.523564 # Seafloor depth:-184.510054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 244.36; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 244.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021754 meters # Minimum depth: 176.672596 meters looking forward 200.000000 meters along route # Maximum depth: 185.117795 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 126.672596 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810371; longitude = -121.856743; captureRadius = 10; duration = 25; initialDepth = 126.672596; finalDepth = 125.523564; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.98649 # Actual altitude: 58.98649 # Commanded vehicle depth:126.672596 # Seafloor depth:-184.503894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 235.95; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 235.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021759 meters # Minimum depth: 178.334539 meters looking forward 200.000000 meters along route # Maximum depth: 185.608227 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 128.334539 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810361; longitude = -121.856463; captureRadius = 10; duration = 25; initialDepth = 128.334539; finalDepth = 126.672596; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.831298 # Actual altitude: 57.831298 # Commanded vehicle depth:128.334539 # Seafloor depth:-185.158254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 231.33; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 231.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021764 meters # Minimum depth: 179.727093 meters looking forward 200.000000 meters along route # Maximum depth: 185.753492 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 129.727093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810351; longitude = -121.856183; captureRadius = 10; duration = 25; initialDepth = 129.727093; finalDepth = 128.334539; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.823715 # Actual altitude: 56.823715 # Commanded vehicle depth:129.727093 # Seafloor depth:-185.009850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 227.29; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.73; MB_Bottom_Detect_Filter_Max_Range = 227.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021768 meters # Minimum depth: 181.402591 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 131.402591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810341; longitude = -121.855903; captureRadius = 10; duration = 25; initialDepth = 131.402591; finalDepth = 129.727093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.282757 # Actual altitude: 55.282757 # Commanded vehicle depth:131.402591 # Seafloor depth:-185.836358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 221.13; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021773 meters # Minimum depth: 183.308072 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 133.308072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810331; longitude = -121.855623; captureRadius = 10; duration = 25; initialDepth = 133.308072; finalDepth = 131.402591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.433767 # Actual altitude: 54.433767 # Commanded vehicle depth:133.308072 # Seafloor depth:-185.856023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.74; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021779 meters # Minimum depth: 184.432230 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.432230 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810320; longitude = -121.855342; captureRadius = 10; duration = 25; initialDepth = 134.432230; finalDepth = 133.308072; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.547951 # Actual altitude: 52.547951 # Commanded vehicle depth:134.43223 # Seafloor depth:-185.357162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.19; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.64; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021783 meters # Minimum depth: 184.503894 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.503894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810310; longitude = -121.855062; captureRadius = 10; duration = 25; initialDepth = 134.503894; finalDepth = 134.432230; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.986014 # Actual altitude: 50.986014 # Commanded vehicle depth:134.503894 # Seafloor depth:-185.489908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021788 meters # Minimum depth: 184.522052 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.522052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810300; longitude = -121.854782; captureRadius = 10; duration = 25; initialDepth = 134.522052; finalDepth = 134.503894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.986014 # Actual altitude: 50.986014 # Commanded vehicle depth:134.522052 # Seafloor depth:-185.211571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.94; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021793 meters # Minimum depth: 184.507397 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.507397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810290; longitude = -121.854502; captureRadius = 10; duration = 25; initialDepth = 134.507397; finalDepth = 134.522052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.689519 # Actual altitude: 50.689519 # Commanded vehicle depth:134.507397 # Seafloor depth:-184.982411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.76; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021798 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810279; longitude = -121.854222; captureRadius = 10; duration = 25; initialDepth = 134.362197; finalDepth = 134.507397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.475014 # Actual altitude: 50.475014 # Commanded vehicle depth:134.362197 # Seafloor depth:-184.749278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.90; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021803 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 186.059875 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810269; longitude = -121.853941; captureRadius = 10; duration = 25; initialDepth = 134.362197; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.710983 # Actual altitude: 50.710983 # Commanded vehicle depth:134.362197 # Seafloor depth:-185.073180 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.84; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.28; MB_Bottom_Detect_Filter_Max_Range = 202.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021807 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 186.815927 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810259; longitude = -121.853661; captureRadius = 10; duration = 25; initialDepth = 134.362197; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.676561 # Actual altitude: 51.676561 # Commanded vehicle depth:134.362197 # Seafloor depth:-186.038758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.71; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021813 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 187.166633 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810249; longitude = -121.853381; captureRadius = 10; duration = 25; initialDepth = 134.362197; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.424996 # Actual altitude: 52.424996 # Commanded vehicle depth:134.362197 # Seafloor depth:-186.787193 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.70; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.97; MB_Bottom_Detect_Filter_Max_Range = 209.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021817 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810239; longitude = -121.853101; captureRadius = 10; duration = 25; initialDepth = 134.362197; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.107024 # Actual altitude: 53.107024 # Commanded vehicle depth:134.362197 # Seafloor depth:-187.469221 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 25.021823 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810228; longitude = -121.852821; captureRadius = 10; duration = 25; initialDepth = 134.362197; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.107024 # Actual altitude: 53.107024 # Commanded vehicle depth:134.362197 # Seafloor depth:-187.071121 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.24; MB_Bottom_Detect_Filter_Max_Range = 212.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 28.358071 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810218; longitude = -121.852540; captureRadius = 10; duration = 28; initialDepth = 134.362197; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.708924 # Actual altitude: 52.708924 # Commanded vehicle depth:134.362197 # Seafloor depth:-186.630671 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.84; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 8.391016 meters # Minimum depth: 184.362197 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.362197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810206; longitude = -121.852223; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 134.362197; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.268474 # Actual altitude: 52.268474 # Commanded vehicle depth:134.362197 # Seafloor depth:-184.682983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.07; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173048 meters # Minimum depth: 184.624279 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.624279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810281; longitude = -121.852238; captureRadius = 10; duration = 25; initialDepth = 134.624279; finalDepth = 134.362197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.320786 # Actual altitude: 50.320786 # Commanded vehicle depth:134.624279 # Seafloor depth:-184.624279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.28; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173046 meters # Minimum depth: 184.624279 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.624279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810505; longitude = -121.852282; captureRadius = 10; duration = 25; initialDepth = 134.624279; finalDepth = 134.624279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.664296 # Actual altitude: 50.664296 # Commanded vehicle depth:134.624279 # Seafloor depth:-185.288575 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.66; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173045 meters # Minimum depth: 184.624279 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.624279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810729; longitude = -121.852326; captureRadius = 10; duration = 25; initialDepth = 134.624279; finalDepth = 134.624279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.011715 # Actual altitude: 51.011715 # Commanded vehicle depth:134.624279 # Seafloor depth:-185.635994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.05; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173045 meters # Minimum depth: 184.624279 meters looking forward 200.000000 meters along route # Maximum depth: 187.681034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.624279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810953; longitude = -121.852371; captureRadius = 10; duration = 25; initialDepth = 134.624279; finalDepth = 134.624279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.862751 # Actual altitude: 51.862751 # Commanded vehicle depth:134.624279 # Seafloor depth:-186.487030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.45; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.45; 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 3 # Segment length 25.173043 meters # Minimum depth: 184.624279 meters looking forward 200.000000 meters along route # Maximum depth: 187.388592 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 134.624279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811177; longitude = -121.852415; captureRadius = 10; duration = 25; initialDepth = 134.624279; finalDepth = 134.624279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.151929 # Actual altitude: 52.151929 # Commanded vehicle depth:134.624279 # Seafloor depth:-186.776208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.61; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173042 meters # Minimum depth: 183.024301 meters looking forward 200.000000 meters along route # Maximum depth: 187.092404 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 133.024301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811402; longitude = -121.852459; captureRadius = 10; duration = 25; initialDepth = 133.024301; finalDepth = 134.624279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.151929 # Actual altitude: 52.151929 # Commanded vehicle depth:133.024301 # Seafloor depth:-184.894542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.61; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.86; MB_Bottom_Detect_Filter_Max_Range = 208.61; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173040 meters # Minimum depth: 180.632538 meters looking forward 200.000000 meters along route # Maximum depth: 186.776208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 130.632538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811626; longitude = -121.852504; captureRadius = 10; duration = 25; initialDepth = 130.632538; finalDepth = 133.024301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.870241 # Actual altitude: 51.870241 # Commanded vehicle depth:130.632538 # Seafloor depth:-182.419673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.48; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173040 meters # Minimum depth: 177.664334 meters looking forward 200.000000 meters along route # Maximum depth: 186.776208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 127.664334 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811850; longitude = -121.852548; captureRadius = 10; duration = 25; initialDepth = 127.664334; finalDepth = 130.632538; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.470022 # Actual altitude: 52.470022 # Commanded vehicle depth:127.664334 # Seafloor depth:-180.134356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.88; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173038 meters # Minimum depth: 176.021265 meters looking forward 200.000000 meters along route # Maximum depth: 186.776208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 126.021265 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812074; longitude = -121.852592; captureRadius = 10; duration = 25; initialDepth = 126.021265; finalDepth = 127.664334; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.470022 # Actual altitude: 52.470022 # Commanded vehicle depth:126.021265 # Seafloor depth:-176.223737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.88; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173037 meters # Minimum depth: 174.444297 meters looking forward 200.000000 meters along route # Maximum depth: 186.776208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 124.444297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812298; longitude = -121.852636; captureRadius = 10; duration = 25; initialDepth = 124.444297; finalDepth = 126.021265; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.308437 # Actual altitude: 51.308437 # Commanded vehicle depth:124.444297 # Seafloor depth:-175.752734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.23; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173037 meters # Minimum depth: 173.813129 meters looking forward 200.000000 meters along route # Maximum depth: 186.776208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 123.813129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812522; longitude = -121.852681; captureRadius = 10; duration = 25; initialDepth = 123.813129; finalDepth = 124.444297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.308437 # Actual altitude: 51.308437 # Commanded vehicle depth:123.813129 # Seafloor depth:-174.296508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.23; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173034 meters # Minimum depth: 171.374707 meters looking forward 200.000000 meters along route # Maximum depth: 186.569859 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.374707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812746; longitude = -121.852725; captureRadius = 10; duration = 25; initialDepth = 121.374707; finalDepth = 123.813129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.10691 # Actual altitude: 51.10691 # Commanded vehicle depth:121.374707 # Seafloor depth:-172.481617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173034 meters # Minimum depth: 171.077627 meters looking forward 200.000000 meters along route # Maximum depth: 184.381021 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 121.077627 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812970; longitude = -121.852769; captureRadius = 10; duration = 25; initialDepth = 121.077627; finalDepth = 121.374707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.10691 # Actual altitude: 51.10691 # Commanded vehicle depth:121.077627 # Seafloor depth:-171.834139 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173033 meters # Minimum depth: 169.732831 meters looking forward 200.000000 meters along route # Maximum depth: 181.948174 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 119.732831 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813194; longitude = -121.852814; captureRadius = 10; duration = 25; initialDepth = 119.732831; finalDepth = 121.077627; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.174401 # Actual altitude: 51.174401 # Commanded vehicle depth:119.732831 # Seafloor depth:-170.907232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.70; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173031 meters # Minimum depth: 169.292394 meters looking forward 200.000000 meters along route # Maximum depth: 179.690903 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 119.292394 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813418; longitude = -121.852858; captureRadius = 10; duration = 25; initialDepth = 119.292394; finalDepth = 119.732831; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.174401 # Actual altitude: 51.174401 # Commanded vehicle depth:119.292394 # Seafloor depth:-169.543396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.70; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173031 meters # Minimum depth: 168.333565 meters looking forward 200.000000 meters along route # Maximum depth: 176.256830 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 118.333565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813642; longitude = -121.852902; captureRadius = 10; duration = 25; initialDepth = 118.333565; finalDepth = 119.292394; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.807692 # Actual altitude: 50.807692 # Commanded vehicle depth:118.333565 # Seafloor depth:-169.141257 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173029 meters # Minimum depth: 166.200751 meters looking forward 200.000000 meters along route # Maximum depth: 175.577954 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 116.200751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813866; longitude = -121.852947; captureRadius = 10; duration = 25; initialDepth = 116.200751; finalDepth = 118.333565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.795484 # Actual altitude: 51.795484 # Commanded vehicle depth:116.200751 # Seafloor depth:-167.996235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.18; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173028 meters # Minimum depth: 165.516979 meters looking forward 200.000000 meters along route # Maximum depth: 174.379146 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 115.516979 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814091; longitude = -121.852991; captureRadius = 10; duration = 25; initialDepth = 115.516979; finalDepth = 116.200751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.795484 # Actual altitude: 51.795484 # Commanded vehicle depth:115.516979 # Seafloor depth:-166.111672 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.18; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173027 meters # Minimum depth: 164.287401 meters looking forward 200.000000 meters along route # Maximum depth: 171.834139 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 114.287401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814315; longitude = -121.853035; captureRadius = 10; duration = 25; initialDepth = 114.287401; finalDepth = 115.516979; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.008374 # Actual altitude: 51.008374 # Commanded vehicle depth:114.287401 # Seafloor depth:-165.295775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 25.173026 meters # Minimum depth: 163.176441 meters looking forward 200.000000 meters along route # Maximum depth: 171.680088 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 113.176441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814539; longitude = -121.853080; captureRadius = 10; duration = 25; initialDepth = 113.176441; finalDepth = 114.287401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.008374 # Actual altitude: 51.008374 # Commanded vehicle depth:113.176441 # Seafloor depth:-164.033641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.03; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 29.368528 meters # Minimum depth: 161.784600 meters looking forward 200.000000 meters along route # Maximum depth: 170.317513 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 111.784600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814763; longitude = -121.853124; captureRadius = 10; duration = 29; initialDepth = 111.784600; finalDepth = 113.176441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8572 # Actual altitude: 50.8572 # Commanded vehicle depth:111.7846 # Seafloor depth:-162.511584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.57; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 8.651810 meters # Minimum depth: 161.784600 meters looking forward 200.000000 meters along route # Maximum depth: 169.732831 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 111.784600 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815024; longitude = -121.853176; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 111.784600; finalDepth = 111.784600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.726984 # Actual altitude: 50.726984 # Commanded vehicle depth:111.7846 # Seafloor depth:-162.087789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.91; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955426 meters # Minimum depth: 160.969988 meters looking forward 200.000000 meters along route # Maximum depth: 169.292394 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 110.969988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815099; longitude = -121.853203; captureRadius = 10; duration = 25; initialDepth = 110.969988; finalDepth = 111.784600; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.067027 # Actual altitude: 51.067027 # Commanded vehicle depth:110.969988 # Seafloor depth:-162.037015 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.27; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955421 meters # Minimum depth: 160.593457 meters looking forward 200.000000 meters along route # Maximum depth: 168.423017 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 110.593457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815323; longitude = -121.853287; captureRadius = 10; duration = 25; initialDepth = 110.593457; finalDepth = 110.969988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.067027 # Actual altitude: 51.067027 # Commanded vehicle depth:110.593457 # Seafloor depth:-161.039824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.27; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.43; MB_Bottom_Detect_Filter_Max_Range = 204.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955414 meters # Minimum depth: 159.329423 meters looking forward 200.000000 meters along route # Maximum depth: 166.544371 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 109.329423 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815547; longitude = -121.853371; captureRadius = 10; duration = 25; initialDepth = 109.329423; finalDepth = 110.593457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.82274 # Actual altitude: 50.82274 # Commanded vehicle depth:109.329423 # Seafloor depth:-160.152163 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.29; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955409 meters # Minimum depth: 158.086371 meters looking forward 200.000000 meters along route # Maximum depth: 165.516979 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 108.086371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815771; longitude = -121.853454; captureRadius = 10; duration = 25; initialDepth = 108.086371; finalDepth = 109.329423; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.884261 # Actual altitude: 50.884261 # Commanded vehicle depth:108.086371 # Seafloor depth:-158.970632 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.54; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955403 meters # Minimum depth: 157.046371 meters looking forward 200.000000 meters along route # Maximum depth: 164.287401 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 107.046371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815995; longitude = -121.853538; captureRadius = 10; duration = 25; initialDepth = 107.046371; finalDepth = 108.086371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.884261 # Actual altitude: 50.884261 # Commanded vehicle depth:107.046371 # Seafloor depth:-157.699878 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.54; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955397 meters # Minimum depth: 155.698113 meters looking forward 200.000000 meters along route # Maximum depth: 162.511584 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 105.698113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816219; longitude = -121.853622; captureRadius = 10; duration = 25; initialDepth = 105.698113; finalDepth = 107.046371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.915857 # Actual altitude: 50.915857 # Commanded vehicle depth:105.698113 # Seafloor depth:-156.613970 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.66; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.37; MB_Bottom_Detect_Filter_Max_Range = 203.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955391 meters # Minimum depth: 154.616749 meters looking forward 200.000000 meters along route # Maximum depth: 162.111895 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 104.616749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816443; longitude = -121.853705; captureRadius = 10; duration = 25; initialDepth = 104.616749; finalDepth = 105.698113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.009559 # Actual altitude: 51.009559 # Commanded vehicle depth:104.616749 # Seafloor depth:-155.626308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.04; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955386 meters # Minimum depth: 153.949794 meters looking forward 200.000000 meters along route # Maximum depth: 161.215845 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 103.949794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816668; longitude = -121.853789; captureRadius = 10; duration = 25; initialDepth = 103.949794; finalDepth = 104.616749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.009559 # Actual altitude: 51.009559 # Commanded vehicle depth:103.949794 # Seafloor depth:-154.804349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.04; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 204.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955379 meters # Minimum depth: 152.916673 meters looking forward 200.000000 meters along route # Maximum depth: 160.945768 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.916673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816892; longitude = -121.853872; captureRadius = 10; duration = 25; initialDepth = 102.916673; finalDepth = 103.949794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.854555 # Actual altitude: 50.854555 # Commanded vehicle depth:102.916673 # Seafloor depth:-153.675945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.42; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955374 meters # Minimum depth: 152.208675 meters looking forward 200.000000 meters along route # Maximum depth: 159.544715 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 102.208675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817116; longitude = -121.853956; captureRadius = 10; duration = 25; initialDepth = 102.208675; finalDepth = 102.916673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.759272 # Actual altitude: 50.759272 # Commanded vehicle depth:102.208675 # Seafloor depth:-152.502954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.04; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955367 meters # Minimum depth: 151.548755 meters looking forward 200.000000 meters along route # Maximum depth: 158.342638 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 101.548755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817340; longitude = -121.854040; captureRadius = 10; duration = 25; initialDepth = 101.548755; finalDepth = 102.208675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.613684 # Actual altitude: 50.613684 # Commanded vehicle depth:101.548755 # Seafloor depth:-152.162439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.45; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955362 meters # Minimum depth: 151.421646 meters looking forward 200.000000 meters along route # Maximum depth: 157.200616 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 101.421646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817564; longitude = -121.854123; captureRadius = 10; duration = 25; initialDepth = 101.421646; finalDepth = 101.548755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.613684 # Actual altitude: 50.613684 # Commanded vehicle depth:101.421646 # Seafloor depth:-151.552548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.45; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955356 meters # Minimum depth: 150.995980 meters looking forward 200.000000 meters along route # Maximum depth: 155.999160 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 100.995980 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817788; longitude = -121.854207; captureRadius = 10; duration = 25; initialDepth = 100.995980; finalDepth = 101.421646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.44654 # Actual altitude: 50.44654 # Commanded vehicle depth:100.99598 # Seafloor depth:-151.442520 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.79; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955350 meters # Minimum depth: 149.946483 meters looking forward 200.000000 meters along route # Maximum depth: 154.804349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.946483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818012; longitude = -121.854290; captureRadius = 10; duration = 25; initialDepth = 99.946483; finalDepth = 100.995980; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.800154 # Actual altitude: 50.800154 # Commanded vehicle depth:99.946483 # Seafloor depth:-150.746637 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955345 meters # Minimum depth: 149.495642 meters looking forward 200.000000 meters along route # Maximum depth: 153.979935 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.495642 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818236; longitude = -121.854374; captureRadius = 10; duration = 25; initialDepth = 99.495642; finalDepth = 99.946483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.800154 # Actual altitude: 50.800154 # Commanded vehicle depth:99.495642 # Seafloor depth:-149.495642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955338 meters # Minimum depth: 149.359193 meters looking forward 200.000000 meters along route # Maximum depth: 153.644403 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 99.359193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818460; longitude = -121.854458; captureRadius = 10; duration = 25; initialDepth = 99.359193; finalDepth = 99.495642; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.06425 # Actual altitude: 50.06425 # Commanded vehicle depth:99.359193 # Seafloor depth:-149.423443 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.26; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955333 meters # Minimum depth: 148.479741 meters looking forward 200.000000 meters along route # Maximum depth: 152.357075 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 98.479741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818684; longitude = -121.854541; captureRadius = 10; duration = 25; initialDepth = 98.479741; finalDepth = 99.359193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.495008 # Actual altitude: 50.495008 # Commanded vehicle depth:98.479741 # Seafloor depth:-148.974749 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.98; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 201.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955327 meters # Minimum depth: 147.972201 meters looking forward 200.000000 meters along route # Maximum depth: 151.797286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 97.972201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818908; longitude = -121.854625; captureRadius = 10; duration = 25; initialDepth = 97.972201; finalDepth = 98.479741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.566144 # Actual altitude: 50.566144 # Commanded vehicle depth:97.972201 # Seafloor depth:-148.538345 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.26; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.23; MB_Bottom_Detect_Filter_Max_Range = 202.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.70; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955320 meters # Minimum depth: 145.907122 meters looking forward 200.000000 meters along route # Maximum depth: 151.467961 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 95.907122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819132; longitude = -121.854708; captureRadius = 10; duration = 25; initialDepth = 95.907122; finalDepth = 97.972201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.473012 # Actual altitude: 51.473012 # Commanded vehicle depth:95.907122 # Seafloor depth:-147.380134 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955315 meters # Minimum depth: 145.022165 meters looking forward 200.000000 meters along route # Maximum depth: 151.087105 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 95.022165 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819357; longitude = -121.854792; captureRadius = 10; duration = 25; initialDepth = 95.022165; finalDepth = 95.907122; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.473012 # Actual altitude: 51.473012 # Commanded vehicle depth:95.022165 # Seafloor depth:-145.635319 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.89; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.59; MB_Bottom_Detect_Filter_Max_Range = 205.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955310 meters # Minimum depth: 144.708526 meters looking forward 200.000000 meters along route # Maximum depth: 149.950073 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.708526 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819581; longitude = -121.854876; captureRadius = 10; duration = 25; initialDepth = 94.708526; finalDepth = 95.022165; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.613154 # Actual altitude: 50.613154 # Commanded vehicle depth:94.708526 # Seafloor depth:-144.708526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.45; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955303 meters # Minimum depth: 144.292069 meters looking forward 200.000000 meters along route # Maximum depth: 149.749726 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 94.292069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819805; longitude = -121.854959; captureRadius = 10; duration = 25; initialDepth = 94.292069; finalDepth = 94.708526; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.485189 # Actual altitude: 50.485189 # Commanded vehicle depth:94.292069 # Seafloor depth:-144.777258 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.94; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955297 meters # Minimum depth: 143.193492 meters looking forward 200.000000 meters along route # Maximum depth: 149.561604 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 93.193492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820029; longitude = -121.855043; captureRadius = 10; duration = 25; initialDepth = 93.193492; finalDepth = 94.292069; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.83307 # Actual altitude: 50.83307 # Commanded vehicle depth:93.193492 # Seafloor depth:-144.026562 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.33; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.33; MB_Bottom_Detect_Filter_Max_Range = 203.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955292 meters # Minimum depth: 142.017034 meters looking forward 200.000000 meters along route # Maximum depth: 148.645648 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 92.017034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820253; longitude = -121.855127; captureRadius = 10; duration = 25; initialDepth = 92.017034; finalDepth = 93.193492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.873751 # Actual altitude: 50.873751 # Commanded vehicle depth:92.017034 # Seafloor depth:-142.890785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.50; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955286 meters # Minimum depth: 141.085056 meters looking forward 200.000000 meters along route # Maximum depth: 148.228809 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 91.085056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820477; longitude = -121.855210; captureRadius = 10; duration = 25; initialDepth = 91.085056; finalDepth = 92.017034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.873751 # Actual altitude: 50.873751 # Commanded vehicle depth:91.085056 # Seafloor depth:-141.620750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.50; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955280 meters # Minimum depth: 140.338219 meters looking forward 200.000000 meters along route # Maximum depth: 146.711949 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 90.338219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820701; longitude = -121.855294; captureRadius = 10; duration = 25; initialDepth = 90.338219; finalDepth = 91.085056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.542657 # Actual altitude: 50.542657 # Commanded vehicle depth:90.338219 # Seafloor depth:-140.880876 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955274 meters # Minimum depth: 139.815406 meters looking forward 200.000000 meters along route # Maximum depth: 145.399304 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 89.815406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820925; longitude = -121.855377; captureRadius = 10; duration = 25; initialDepth = 89.815406; finalDepth = 90.338219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.542657 # Actual altitude: 50.542657 # Commanded vehicle depth:89.815406 # Seafloor depth:-140.327992 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.17; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955268 meters # Minimum depth: 139.815406 meters looking forward 200.000000 meters along route # Maximum depth: 145.370200 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 89.815406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821149; longitude = -121.855461; captureRadius = 10; duration = 25; initialDepth = 89.815406; finalDepth = 89.815406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.512586 # Actual altitude: 50.512586 # Commanded vehicle depth:89.815406 # Seafloor depth:-140.084680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.05; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955262 meters # Minimum depth: 138.698461 meters looking forward 200.000000 meters along route # Maximum depth: 144.665758 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 88.698461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821373; longitude = -121.855545; captureRadius = 10; duration = 25; initialDepth = 88.698461; finalDepth = 89.815406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.604216 # Actual altitude: 51.604216 # Commanded vehicle depth:88.698461 # Seafloor depth:-140.302677 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.42; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955257 meters # Minimum depth: 137.510355 meters looking forward 200.000000 meters along route # Maximum depth: 143.622896 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 87.510355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821597; longitude = -121.855628; captureRadius = 10; duration = 25; initialDepth = 87.510355; finalDepth = 88.698461; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.604216 # Actual altitude: 51.604216 # Commanded vehicle depth:87.510355 # Seafloor depth:-138.602250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.42; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.64; MB_Bottom_Detect_Filter_Max_Range = 206.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955251 meters # Minimum depth: 136.221324 meters looking forward 200.000000 meters along route # Maximum depth: 142.577631 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 86.221324 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821821; longitude = -121.855712; captureRadius = 10; duration = 25; initialDepth = 86.221324; finalDepth = 87.510355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.300186 # Actual altitude: 51.300186 # Commanded vehicle depth:86.221324 # Seafloor depth:-137.521510 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.20; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955244 meters # Minimum depth: 135.715551 meters looking forward 200.000000 meters along route # Maximum depth: 141.663158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.715551 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822046; longitude = -121.855795; captureRadius = 10; duration = 25; initialDepth = 85.715551; finalDepth = 86.221324; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.300186 # Actual altitude: 51.300186 # Commanded vehicle depth:85.715551 # Seafloor depth:-136.181874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.20; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955239 meters # Minimum depth: 135.596389 meters looking forward 200.000000 meters along route # Maximum depth: 140.365730 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.596389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822270; longitude = -121.855879; captureRadius = 10; duration = 25; initialDepth = 85.596389; finalDepth = 85.715551; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.466323 # Actual altitude: 50.466323 # Commanded vehicle depth:85.596389 # Seafloor depth:-135.624908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.87; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955233 meters # Minimum depth: 135.217908 meters looking forward 200.000000 meters along route # Maximum depth: 140.302677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 85.217908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822494; longitude = -121.855963; captureRadius = 10; duration = 25; initialDepth = 85.217908; finalDepth = 85.596389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.407307 # Actual altitude: 50.407307 # Commanded vehicle depth:85.217908 # Seafloor depth:-135.625215 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.63; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.955228 meters # Minimum depth: 133.555515 meters looking forward 200.000000 meters along route # Maximum depth: 140.302677 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 83.555515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822718; longitude = -121.856046; captureRadius = 10; duration = 25; initialDepth = 83.555515; finalDepth = 85.217908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.251903 # Actual altitude: 51.251903 # Commanded vehicle depth:83.555515 # Seafloor depth:-134.807418 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.118156 meters # Minimum depth: 132.656695 meters looking forward 200.000000 meters along route # Maximum depth: 139.604059 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 82.656695 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822942; longitude = -121.856130; captureRadius = 10; duration = 28; initialDepth = 82.656695; finalDepth = 83.555515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.251903 # Actual altitude: 51.251903 # Commanded vehicle depth:82.656695 # Seafloor depth:-133.478581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.01; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.76; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 22.868718 meters # Minimum depth: 131.331759 meters looking forward 200.000000 meters along route # Maximum depth: 137.777286 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 81.331759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823185; longitude = -121.856220; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 81.331759; finalDepth = 82.656695; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.249082 # Actual altitude: 51.249082 # Commanded vehicle depth:81.331759 # Seafloor depth:-132.580841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184617 meters # Minimum depth: 130.406855 meters looking forward 200.000000 meters along route # Maximum depth: 136.918901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 80.406855 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823390; longitude = -121.856242; captureRadius = 10; duration = 31; initialDepth = 80.406855; finalDepth = 81.331759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.249082 # Actual altitude: 51.249082 # Commanded vehicle depth:80.406855 # Seafloor depth:-131.360117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 205.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.860414 meters # Minimum depth: 129.852761 meters looking forward 200.000000 meters along route # Maximum depth: 135.829476 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 79.852761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823670; longitude = -121.856271; captureRadius = 10; duration = 25; initialDepth = 79.852761; finalDepth = 80.406855; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.953262 # Actual altitude: 50.953262 # Commanded vehicle depth:79.852761 # Seafloor depth:-130.117342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.81; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.86; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 30.271897 meters # Minimum depth: 128.968769 meters looking forward 200.000000 meters along route # Maximum depth: 135.625215 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 78.968769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823902; longitude = -121.856295; captureRadius = 10; duration = 30; initialDepth = 78.968769; finalDepth = 79.852761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.218909 # Actual altitude: 51.218909 # Commanded vehicle depth:78.968769 # Seafloor depth:-130.187678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.88; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.66; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184618 meters # Minimum depth: 124.863929 meters looking forward 200.000000 meters along route # Maximum depth: 134.807418 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 74.863929 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824174; longitude = -121.856323; captureRadius = 10; duration = 31; initialDepth = 74.863929; finalDepth = 78.968769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.803805 # Actual altitude: 53.803805 # Commanded vehicle depth:74.863929 # Seafloor depth:-128.667734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 215.22; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184619 meters # Minimum depth: 122.719187 meters looking forward 200.000000 meters along route # Maximum depth: 133.454208 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 72.719187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824454; longitude = -121.856353; captureRadius = 10; duration = 31; initialDepth = 72.719187; finalDepth = 74.863929; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.803805 # Actual altitude: 53.803805 # Commanded vehicle depth:72.719187 # Seafloor depth:-124.765466 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 215.22; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.52; MB_Bottom_Detect_Filter_Max_Range = 215.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 27.229496 meters # Minimum depth: 121.119023 meters looking forward 200.000000 meters along route # Maximum depth: 132.580841 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 71.119023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824735; longitude = -121.856382; captureRadius = 10; duration = 27; initialDepth = 71.119023; finalDepth = 72.719187; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.046279 # Actual altitude: 52.046279 # Commanded vehicle depth:71.119023 # Seafloor depth:-122.062920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.19; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.82; MB_Bottom_Detect_Filter_Max_Range = 208.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 28.902818 meters # Minimum depth: 118.885676 meters looking forward 200.000000 meters along route # Maximum depth: 131.093711 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 68.885676 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824979; longitude = -121.856407; captureRadius = 10; duration = 28; initialDepth = 68.885676; finalDepth = 71.119023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.649436 # Actual altitude: 51.649436 # Commanded vehicle depth:68.885676 # Seafloor depth:-120.535112 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.60; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184619 meters # Minimum depth: 115.775025 meters looking forward 200.000000 meters along route # Maximum depth: 130.303363 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 65.775025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825239; longitude = -121.856434; captureRadius = 10; duration = 31; initialDepth = 65.775025; finalDepth = 68.885676; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.455049 # Actual altitude: 52.455049 # Commanded vehicle depth:65.775025 # Seafloor depth:-118.230074 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.82; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184620 meters # Minimum depth: 114.468610 meters looking forward 200.000000 meters along route # Maximum depth: 130.146303 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 64.468610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825519; longitude = -121.856463; captureRadius = 10; duration = 31; initialDepth = 64.468610; finalDepth = 65.775025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.455049 # Actual altitude: 52.455049 # Commanded vehicle depth:64.46861 # Seafloor depth:-115.753290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.82; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.98; MB_Bottom_Detect_Filter_Max_Range = 209.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184621 meters # Minimum depth: 111.477253 meters looking forward 200.000000 meters along route # Maximum depth: 127.134583 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 61.477253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825799; longitude = -121.856493; captureRadius = 10; duration = 31; initialDepth = 61.477253; finalDepth = 64.468610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.475988 # Actual altitude: 52.475988 # Commanded vehicle depth:61.477253 # Seafloor depth:-113.953241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.90; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184621 meters # Minimum depth: 109.038669 meters looking forward 200.000000 meters along route # Maximum depth: 123.672235 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 59.038669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826079; longitude = -121.856522; captureRadius = 10; duration = 31; initialDepth = 59.038669; finalDepth = 61.477253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.475988 # Actual altitude: 52.475988 # Commanded vehicle depth:59.038669 # Seafloor depth:-111.306310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.90; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.99; MB_Bottom_Detect_Filter_Max_Range = 209.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.43; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184621 meters # Minimum depth: 105.815621 meters looking forward 200.000000 meters along route # Maximum depth: 121.460366 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 55.815621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826359; longitude = -121.856551; captureRadius = 10; duration = 31; initialDepth = 55.815621; finalDepth = 59.038669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.541223 # Actual altitude: 52.541223 # Commanded vehicle depth:55.815621 # Seafloor depth:-108.356844 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.16; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184622 meters # Minimum depth: 103.663994 meters looking forward 200.000000 meters along route # Maximum depth: 118.932992 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 53.663994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826639; longitude = -121.856580; captureRadius = 10; duration = 31; initialDepth = 53.663994; finalDepth = 55.815621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.541223 # Actual altitude: 52.541223 # Commanded vehicle depth:53.663994 # Seafloor depth:-105.494306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.16; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.02; MB_Bottom_Detect_Filter_Max_Range = 210.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184622 meters # Minimum depth: 101.432608 meters looking forward 200.000000 meters along route # Maximum depth: 117.027058 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 51.432608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826919; longitude = -121.856609; captureRadius = 10; duration = 31; initialDepth = 51.432608; finalDepth = 53.663994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.830312 # Actual altitude: 51.830312 # Commanded vehicle depth:51.432608 # Seafloor depth:-103.194995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.32; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.73; MB_Bottom_Detect_Filter_Max_Range = 207.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184623 meters # Minimum depth: 99.382640 meters looking forward 200.000000 meters along route # Maximum depth: 114.866101 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 49.382640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827199; longitude = -121.856638; captureRadius = 10; duration = 31; initialDepth = 49.382640; finalDepth = 51.432608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.762387 # Actual altitude: 51.762387 # Commanded vehicle depth:49.38264 # Seafloor depth:-100.884780 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.05; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.70; MB_Bottom_Detect_Filter_Max_Range = 207.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184623 meters # Minimum depth: 97.392207 meters looking forward 200.000000 meters along route # Maximum depth: 112.335331 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 47.392207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827480; longitude = -121.856668; captureRadius = 10; duration = 31; initialDepth = 47.392207; finalDepth = 49.382640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.50214 # Actual altitude: 51.50214 # Commanded vehicle depth:47.392207 # Seafloor depth:-98.839996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.01; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.60; MB_Bottom_Detect_Filter_Max_Range = 206.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184624 meters # Minimum depth: 95.422625 meters looking forward 200.000000 meters along route # Maximum depth: 109.657173 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 45.422625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827760; longitude = -121.856697; captureRadius = 10; duration = 31; initialDepth = 45.422625; finalDepth = 47.392207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.447789 # Actual altitude: 51.447789 # Commanded vehicle depth:45.422625 # Seafloor depth:-96.826414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.79; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184623 meters # Minimum depth: 93.743090 meters looking forward 200.000000 meters along route # Maximum depth: 106.575530 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 43.743090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828040; longitude = -121.856726; captureRadius = 10; duration = 31; initialDepth = 43.743090; finalDepth = 45.422625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.538462 # Actual altitude: 51.538462 # Commanded vehicle depth:43.74309 # Seafloor depth:-95.281552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.15; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184625 meters # Minimum depth: 92.427734 meters looking forward 200.000000 meters along route # Maximum depth: 104.394132 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 42.427734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828320; longitude = -121.856755; captureRadius = 10; duration = 31; initialDepth = 42.427734; finalDepth = 43.743090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.538462 # Actual altitude: 51.538462 # Commanded vehicle depth:42.427734 # Seafloor depth:-93.578131 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.15; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.62; MB_Bottom_Detect_Filter_Max_Range = 206.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.62; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184625 meters # Minimum depth: 91.386525 meters looking forward 200.000000 meters along route # Maximum depth: 101.444228 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 41.386525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828600; longitude = -121.856784; captureRadius = 10; duration = 31; initialDepth = 41.386525; finalDepth = 42.427734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.150397 # Actual altitude: 51.150397 # Commanded vehicle depth:41.386525 # Seafloor depth:-92.364282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.60; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184625 meters # Minimum depth: 89.481151 meters looking forward 200.000000 meters along route # Maximum depth: 99.497792 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 39.481151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828880; longitude = -121.856813; captureRadius = 10; duration = 31; initialDepth = 39.481151; finalDepth = 41.386525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.015768 # Actual altitude: 51.015768 # Commanded vehicle depth:39.481151 # Seafloor depth:-90.496919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.06; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184626 meters # Minimum depth: 87.709589 meters looking forward 200.000000 meters along route # Maximum depth: 97.976671 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 37.709589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829160; longitude = -121.856842; captureRadius = 10; duration = 31; initialDepth = 37.709589; finalDepth = 39.481151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.169947 # Actual altitude: 51.169947 # Commanded vehicle depth:37.709589 # Seafloor depth:-88.879536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.68; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184626 meters # Minimum depth: 85.977984 meters looking forward 200.000000 meters along route # Maximum depth: 95.678535 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 35.977984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829440; longitude = -121.856872; captureRadius = 10; duration = 31; initialDepth = 35.977984; finalDepth = 37.709589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.617528 # Actual altitude: 51.617528 # Commanded vehicle depth:35.977984 # Seafloor depth:-87.595512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.47; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184627 meters # Minimum depth: 84.872879 meters looking forward 200.000000 meters along route # Maximum depth: 94.331471 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 34.872879 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829720; longitude = -121.856901; captureRadius = 10; duration = 31; initialDepth = 34.872879; finalDepth = 35.977984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.617528 # Actual altitude: 51.617528 # Commanded vehicle depth:34.872879 # Seafloor depth:-86.002526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.47; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 31.184627 meters # Minimum depth: 83.202246 meters looking forward 200.000000 meters along route # Maximum depth: 93.250362 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 33.202246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830001; longitude = -121.856930; captureRadius = 10; duration = 31; initialDepth = 33.202246; finalDepth = 34.872879; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.200351 # Actual altitude: 51.200351 # Commanded vehicle depth:33.202246 # Seafloor depth:-84.402597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.80; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 29.105652 meters # Minimum depth: 82.306688 meters looking forward 200.000000 meters along route # Maximum depth: 91.491232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 32.306688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830281; longitude = -121.856959; captureRadius = 10; duration = 29; initialDepth = 32.306688; finalDepth = 33.202246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.200351 # Actual altitude: 51.200351 # Commanded vehicle depth:32.306688 # Seafloor depth:-82.979494 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.80; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.60; 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: 50.672806 # Actual altitude: 50.672806 # Commanded vehicle depth:32.014821 # Seafloor depth:-82.014821 # behavior reson { duration = 6; 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 = 202.69; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; Log_Mode = 0; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 136.282801 meters # Minimum depth: 82.014821 meters looking forward 200.000000 meters along route # Maximum depth: 91.491232 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 50.000000 meters # Minimum vehicle altitude: 40.000000 meters # Behavior depth of 32.014821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830542; longitude = -121.856986; captureRadius = 10; duration = 136; initialDepth = 32.014821; finalDepth = 32.306688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 220.0; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 40.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 220.0; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 15; 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 = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 0; Window_Size = 0; } # ####################################################### #######################################################