# 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_test2.rte # Mission File: 20080123_test2.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 = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 15; 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 29.232376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831924; longitude = -121.857117; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 29.232376; finalDepth = 29.232376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.74738566364 # Actual altitude: 47.74738566364 # Commanded vehicle depth:29.232376336360005 # Seafloor depth:-76.979762 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 190.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.10; MB_Bottom_Detect_Filter_Max_Range = 190.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.24; 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 29.232376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831849; longitude = -121.857109; captureRadius = 10; duration = 28; initialDepth = 29.232376; finalDepth = 29.232376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9839156636473 # Actual altitude: 47.9839156636473 # Commanded vehicle depth:29.232376336352729 # Seafloor depth:-77.216292 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 191.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.19; MB_Bottom_Detect_Filter_Max_Range = 191.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.95; 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 29.232376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831593; longitude = -121.857080; captureRadius = 10; duration = 27; initialDepth = 29.232376; finalDepth = 29.232376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9839156636473 # Actual altitude: 47.9839156636473 # Commanded vehicle depth:29.232376336345169 # Seafloor depth:-76.934746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 191.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.19; MB_Bottom_Detect_Filter_Max_Range = 191.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.95; 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 29.232376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831345; longitude = -121.857052; captureRadius = 10; duration = 31; initialDepth = 29.232376; finalDepth = 29.232376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3547086636521 # Actual altitude: 49.3547086636521 # Commanded vehicle depth:29.232376336347926 # Seafloor depth:-78.587085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 197.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.06; 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 30.548883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831065; longitude = -121.857020; captureRadius = 10; duration = 31; initialDepth = 30.548883; finalDepth = 29.232376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3547086636521 # Actual altitude: 49.3547086636521 # Commanded vehicle depth:30.548882564803591 # Seafloor depth:-79.877685 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.74; MB_Bottom_Detect_Filter_Max_Range = 197.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.06; 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 31.161217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830785; longitude = -121.856989; captureRadius = 10; duration = 31; initialDepth = 31.161217; finalDepth = 30.548883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9617845475647 # Actual altitude: 49.9617845475647 # Commanded vehicle depth:31.161217452435295 # Seafloor depth:-81.123002 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.98; MB_Bottom_Detect_Filter_Max_Range = 199.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.89; 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 32.099219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830505; longitude = -121.856957; captureRadius = 10; duration = 31; initialDepth = 32.099219; finalDepth = 31.161217; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2793664423389 # Actual altitude: 50.2793664423389 # Commanded vehicle depth:32.099218557661146 # Seafloor depth:-82.378585 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.84; 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: 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 33.446683 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830225; longitude = -121.856925; captureRadius = 10; duration = 31; initialDepth = 33.446683; finalDepth = 32.099219; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2793664423389 # Actual altitude: 50.2793664423389 # Commanded vehicle depth:33.446683297222506 # Seafloor depth:-83.346567 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.11; MB_Bottom_Detect_Filter_Max_Range = 201.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.84; 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 34.767673 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829945; longitude = -121.856894; captureRadius = 10; duration = 31; initialDepth = 34.767673; finalDepth = 33.446683; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9192821277475 # Actual altitude: 49.9192821277475 # Commanded vehicle depth:34.767672872252462 # Seafloor depth:-84.686955 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.97; MB_Bottom_Detect_Filter_Max_Range = 199.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.76; 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 36.302900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829664; longitude = -121.856862; captureRadius = 10; duration = 31; initialDepth = 36.302900; finalDepth = 34.767673; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9192821277475 # Actual altitude: 49.9192821277475 # Commanded vehicle depth:36.302899667745436 # Seafloor depth:-85.910775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.97; MB_Bottom_Detect_Filter_Max_Range = 199.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.76; 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 38.455898 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829384; longitude = -121.856831; captureRadius = 10; duration = 30; initialDepth = 38.455898; finalDepth = 36.302900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6078753322546 # Actual altitude: 49.6078753322546 # Commanded vehicle depth:38.455897763321914 # Seafloor depth:-87.513042 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 198.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.82; 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 38.821615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829110; longitude = -121.856800; captureRadius = 10; duration = 25; initialDepth = 38.821615; finalDepth = 38.455898; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5461125558292 # Actual altitude: 50.5461125558292 # Commanded vehicle depth:38.821615444170817 # Seafloor depth:-89.367728 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.64; 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 40.766910 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828880; longitude = -121.856774; captureRadius = 10; duration = 29; initialDepth = 40.766910; finalDepth = 38.821615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5461125558292 # Actual altitude: 50.5461125558292 # Commanded vehicle depth:40.766909851273510 # Seafloor depth:-90.474413 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.64; 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 42.131615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828613; longitude = -121.856743; captureRadius = 10; duration = 26; initialDepth = 42.131615; finalDepth = 40.766910; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0726357355795 # Actual altitude: 50.0726357355795 # Commanded vehicle depth:42.131615264420518 # Seafloor depth:-92.204251 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.22; 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 44.269061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828376; longitude = -121.856717; captureRadius = 10; duration = 28; initialDepth = 44.269061; finalDepth = 42.131615; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0726357355795 # Actual altitude: 50.0726357355795 # Commanded vehicle depth:44.269061160981181 # Seafloor depth:-93.170546 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.29; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.22; 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 45.122211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828116; longitude = -121.856687; captureRadius = 10; duration = 27; initialDepth = 45.122211; finalDepth = 44.269061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4421009243325 # Actual altitude: 49.4421009243325 # Commanded vehicle depth:45.122211075667551 # Seafloor depth:-94.564312 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.78; MB_Bottom_Detect_Filter_Max_Range = 197.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.33; 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 46.680407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827872; longitude = -121.856660; captureRadius = 10; duration = 31; initialDepth = 46.680407; finalDepth = 45.122211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4421009243325 # Actual altitude: 49.4421009243325 # Commanded vehicle depth:46.680406912338754 # Seafloor depth:-96.054066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.78; MB_Bottom_Detect_Filter_Max_Range = 197.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.33; 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 48.757897 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827592; longitude = -121.856628; captureRadius = 10; duration = 31; initialDepth = 48.757897; finalDepth = 46.680407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3736590876613 # Actual altitude: 49.3736590876613 # Commanded vehicle depth:48.757897043787281 # Seafloor depth:-97.989134 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.75; MB_Bottom_Detect_Filter_Max_Range = 197.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.12; 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 50.076547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827312; longitude = -121.856597; captureRadius = 10; duration = 31; initialDepth = 50.076547; finalDepth = 48.757897; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2828331315785 # Actual altitude: 49.2828331315785 # Commanded vehicle depth:50.076546868421516 # Seafloor depth:-99.359380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.71; MB_Bottom_Detect_Filter_Max_Range = 197.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.85; 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 52.343351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827031; longitude = -121.856565; captureRadius = 10; duration = 31; initialDepth = 52.343351; finalDepth = 50.076547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3633649972781 # Actual altitude: 49.3633649972781 # Commanded vehicle depth:52.343351002721946 # Seafloor depth:-101.706716 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.75; MB_Bottom_Detect_Filter_Max_Range = 197.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.09; 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 53.290749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826751; longitude = -121.856533; captureRadius = 10; duration = 31; initialDepth = 53.290749; finalDepth = 52.343351; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1656821807251 # Actual altitude: 51.1656821807251 # Commanded vehicle depth:53.290748819274881 # Seafloor depth:-104.456431 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.50; 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 55.932483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826471; longitude = -121.856502; captureRadius = 10; duration = 31; initialDepth = 55.932483; finalDepth = 53.290749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1656821807251 # Actual altitude: 51.1656821807251 # Commanded vehicle depth:55.932483032828713 # Seafloor depth:-107.058616 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.50; 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 58.612258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826191; longitude = -121.856470; captureRadius = 10; duration = 31; initialDepth = 58.612258; finalDepth = 55.932483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1538664125077 # Actual altitude: 51.1538664125077 # Commanded vehicle depth:58.612257587492337 # Seafloor depth:-109.766124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.46; 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 61.105686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825911; longitude = -121.856439; captureRadius = 10; duration = 30; initialDepth = 61.105686; finalDepth = 58.612258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1538664125077 # Actual altitude: 51.1538664125077 # Commanded vehicle depth:61.105686101686956 # Seafloor depth:-112.212172 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.46; 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 61.105686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825633; longitude = -121.856407; captureRadius = 10; duration = 25; initialDepth = 61.105686; finalDepth = 61.105686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3935818983094 # Actual altitude: 54.3935818983094 # Commanded vehicle depth:61.105686101690566 # Seafloor depth:-115.499268 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.18; 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 66.876498 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825407; longitude = -121.856382; captureRadius = 10; duration = 30; initialDepth = 66.876498; finalDepth = 61.105686; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3935818983094 # Actual altitude: 54.3935818983094 # Commanded vehicle depth:66.876498339544582 # Seafloor depth:-116.718205 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.76; MB_Bottom_Detect_Filter_Max_Range = 217.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.18; 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 68.757435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825136; longitude = -121.856351; captureRadius = 10; duration = 26; initialDepth = 68.757435; finalDepth = 66.876498; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0373556251837 # Actual altitude: 50.0373556251837 # Commanded vehicle depth:68.757435374816254 # Seafloor depth:-118.794791 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.11; 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 70.905592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824903; longitude = -121.856325; captureRadius = 10; duration = 29; initialDepth = 70.905592; finalDepth = 68.757435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0373556251837 # Actual altitude: 50.0373556251837 # Commanded vehicle depth:70.905592339167242 # Seafloor depth:-120.352237 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.11; 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 72.616862 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824640; longitude = -121.856295; captureRadius = 10; duration = 26; initialDepth = 72.616862; finalDepth = 70.905592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2973365318119 # Actual altitude: 50.2973365318119 # Commanded vehicle depth:72.616862468188060 # Seafloor depth:-122.914199 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.89; 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 74.374697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824398; longitude = -121.856268; captureRadius = 10; duration = 31; initialDepth = 74.374697; finalDepth = 72.616862; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8729119275279 # Actual altitude: 51.8729119275279 # Commanded vehicle depth:74.374697072472060 # Seafloor depth:-126.247609 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.62; 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 78.731262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824118; longitude = -121.856236; captureRadius = 10; duration = 31; initialDepth = 78.731262; finalDepth = 74.374697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8729119275279 # Actual altitude: 51.8729119275279 # Commanded vehicle depth:78.731262129795510 # Seafloor depth:-128.909704 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.62; 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 79.847725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823838; longitude = -121.856205; captureRadius = 10; duration = 31; initialDepth = 79.847725; finalDepth = 78.731262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1784418702045 # Actual altitude: 50.1784418702045 # Commanded vehicle depth:79.847725461626226 # Seafloor depth:-129.143480 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 80.032770 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823558; longitude = -121.856173; captureRadius = 10; duration = 27; initialDepth = 80.032770; finalDepth = 79.847725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7969954054616 # Actual altitude: 50.7969954054616 # Commanded vehicle depth:80.032769594538451 # Seafloor depth:-130.829765 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.39; 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 81.655320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823315; longitude = -121.856146; captureRadius = 10; duration = 4; # abortOnTimeout = True; initialDepth = 81.655320; finalDepth = 80.032770; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7969954054616 # Actual altitude: 50.7969954054616 # Commanded vehicle depth:81.655320350433328 # Seafloor depth:-131.491821 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.39; 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 81.655320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823278; longitude = -121.856132; captureRadius = 10; duration = 25; initialDepth = 81.655320; finalDepth = 81.655320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0335316495667 # Actual altitude: 50.0335316495667 # Commanded vehicle depth:81.655320350433328 # Seafloor depth:-131.688852 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; 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 83.234053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823054; longitude = -121.856049; captureRadius = 10; duration = 25; initialDepth = 83.234053; finalDepth = 81.655320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0335316495667 # Actual altitude: 50.0335316495667 # Commanded vehicle depth:83.234052743904840 # Seafloor depth:-132.670267 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.10; 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 83.234053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822830; longitude = -121.855967; captureRadius = 10; duration = 25; initialDepth = 83.234053; finalDepth = 83.234053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0528582549408 # Actual altitude: 51.0528582549408 # Commanded vehicle depth:83.234052745059188 # Seafloor depth:-134.286911 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.16; 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 84.816055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822606; longitude = -121.855884; captureRadius = 10; duration = 25; initialDepth = 84.816055; finalDepth = 83.234053; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0528582549408 # Actual altitude: 51.0528582549408 # Commanded vehicle depth:84.816054935562875 # Seafloor depth:-134.895605 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.16; 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 86.244293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822382; longitude = -121.855802; captureRadius = 10; duration = 25; initialDepth = 86.244293; finalDepth = 84.816055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0795500644371 # Actual altitude: 50.0795500644371 # Commanded vehicle depth:86.244293406312508 # Seafloor depth:-135.851599 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.24; 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 86.244293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822158; longitude = -121.855719; captureRadius = 10; duration = 25; initialDepth = 86.244293; finalDepth = 86.244293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6073055936875 # Actual altitude: 49.6073055936875 # Commanded vehicle depth:86.244293406972048 # Seafloor depth:-135.675422 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 198.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.82; 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 87.068359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821934; longitude = -121.855637; captureRadius = 10; duration = 25; initialDepth = 87.068359; finalDepth = 86.244293; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7853870935578 # Actual altitude: 49.7853870935578 # Commanded vehicle depth:87.068358906442171 # Seafloor depth:-136.853746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 199.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.36; 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 87.881367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821709; longitude = -121.855554; captureRadius = 10; duration = 25; initialDepth = 87.881367; finalDepth = 87.068359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7853870935578 # Actual altitude: 49.7853870935578 # Commanded vehicle depth:87.881367229907340 # Seafloor depth:-137.409624 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 199.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.36; 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 88.276396 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821485; longitude = -121.855472; captureRadius = 10; duration = 25; initialDepth = 88.276396; finalDepth = 87.881367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7221090445131 # Actual altitude: 50.7221090445131 # Commanded vehicle depth:88.276395955486862 # Seafloor depth:-138.998505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.89; MB_Rate = 2; MB_Gain = 70; 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 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 90.419040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821261; longitude = -121.855389; captureRadius = 10; duration = 25; initialDepth = 90.419040; finalDepth = 88.276396; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7221090445131 # Actual altitude: 50.7221090445131 # Commanded vehicle depth:90.419040447252144 # Seafloor depth:-140.554260 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.89; MB_Rate = 2; MB_Gain = 70; 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 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 90.964142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821037; longitude = -121.855307; captureRadius = 10; duration = 25; initialDepth = 90.964142; finalDepth = 90.419040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1352195527479 # Actual altitude: 50.1352195527479 # Commanded vehicle depth:90.964141597267712 # Seafloor depth:-140.270520 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.41; 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 90.964142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820813; longitude = -121.855224; captureRadius = 10; duration = 25; initialDepth = 90.964142; finalDepth = 90.964142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8370994025994 # Actual altitude: 49.8370994025994 # Commanded vehicle depth:90.964141597400612 # Seafloor depth:-140.801241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.93; MB_Bottom_Detect_Filter_Max_Range = 199.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.51; 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 91.560946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820589; longitude = -121.855142; captureRadius = 10; duration = 25; initialDepth = 91.560946; finalDepth = 90.964142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8370994025994 # Actual altitude: 49.8370994025994 # Commanded vehicle depth:91.560946159991886 # Seafloor depth:-141.047371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.93; MB_Bottom_Detect_Filter_Max_Range = 199.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.51; 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 91.560946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820365; longitude = -121.855059; captureRadius = 10; duration = 25; initialDepth = 91.560946; finalDepth = 91.560946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9718898394298 # Actual altitude: 50.9718898394298 # Commanded vehicle depth:91.560946160570182 # Seafloor depth:-142.532836 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.92; 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 93.209471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820141; longitude = -121.854977; captureRadius = 10; duration = 25; initialDepth = 93.209471; finalDepth = 91.560946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9718898394298 # Actual altitude: 50.9718898394298 # Commanded vehicle depth:93.209471460952017 # Seafloor depth:-143.199120 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.89; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.39; MB_Bottom_Detect_Filter_Max_Range = 203.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.92; 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 93.960854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819917; longitude = -121.854894; captureRadius = 10; duration = 25; initialDepth = 93.960854; finalDepth = 93.209471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3308477188802 # Actual altitude: 50.3308477188802 # Commanded vehicle depth:93.960854281119765 # Seafloor depth:-144.291702 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; 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 95.014475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819693; longitude = -121.854812; captureRadius = 10; duration = 25; initialDepth = 95.014475; finalDepth = 93.960854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3308477188802 # Actual altitude: 50.3308477188802 # Commanded vehicle depth:95.014474516793371 # Seafloor depth:-144.689071 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.32; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.99; 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 95.014475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819469; longitude = -121.854729; captureRadius = 10; duration = 25; initialDepth = 95.014475; finalDepth = 95.014475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3022364827922 # Actual altitude: 50.3022364827922 # Commanded vehicle depth:95.014474517207759 # Seafloor depth:-145.316711 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.91; 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 96.262607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819245; longitude = -121.854647; captureRadius = 10; duration = 25; initialDepth = 96.262607; finalDepth = 95.014475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5182789709847 # Actual altitude: 50.5182789709847 # Commanded vehicle depth:96.262607029015356 # Seafloor depth:-146.780886 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.55; 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 96.262607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819020; longitude = -121.854564; captureRadius = 10; duration = 25; initialDepth = 96.262607; finalDepth = 96.262607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9572799708963 # Actual altitude: 51.9572799708963 # Commanded vehicle depth:96.262607029103748 # Seafloor depth:-148.219887 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.87; 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 96.262607 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818796; longitude = -121.854482; captureRadius = 10; duration = 25; initialDepth = 96.262607; finalDepth = 96.262607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1199289709211 # Actual altitude: 52.1199289709211 # Commanded vehicle depth:96.262607029078879 # Seafloor depth:-148.382536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.36; 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 99.053665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818572; longitude = -121.854399; captureRadius = 10; duration = 25; initialDepth = 99.053665; finalDepth = 96.262607; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1199289709211 # Actual altitude: 52.1199289709211 # Commanded vehicle depth:99.053665124258231 # Seafloor depth:-149.480811 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.36; 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 99.598540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818348; longitude = -121.854317; captureRadius = 10; duration = 25; initialDepth = 99.598540; finalDepth = 99.053665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4271458757418 # Actual altitude: 50.4271458757418 # Commanded vehicle depth:99.598540141392363 # Seafloor depth:-149.753155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.28; 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 99.598540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818124; longitude = -121.854234; captureRadius = 10; duration = 25; initialDepth = 99.598540; finalDepth = 99.598540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3447288586071 # Actual altitude: 50.3447288586071 # Commanded vehicle depth:99.598540141392846 # Seafloor depth:-149.943269 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; 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 100.797376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817900; longitude = -121.854151; captureRadius = 10; duration = 25; initialDepth = 100.797376; finalDepth = 99.598540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3447288586071 # Actual altitude: 50.3447288586071 # Commanded vehicle depth:100.797376301266553 # Seafloor depth:-151.044535 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; 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 100.833563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817676; longitude = -121.854069; captureRadius = 10; duration = 25; initialDepth = 100.833563; finalDepth = 100.797376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6412802184726 # Actual altitude: 50.6412802184726 # Commanded vehicle depth:100.833562781527377 # Seafloor depth:-151.474843 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.26; MB_Bottom_Detect_Filter_Max_Range = 202.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.92; 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 101.090476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817452; longitude = -121.853986; captureRadius = 10; duration = 25; initialDepth = 101.090476; finalDepth = 100.833563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9878008385207 # Actual altitude: 50.9878008385207 # Commanded vehicle depth:101.090476161479330 # Seafloor depth:-152.078277 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.95; 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 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 101.706588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817228; longitude = -121.853904; captureRadius = 10; duration = 25; initialDepth = 101.706588; finalDepth = 101.090476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9878008385207 # Actual altitude: 50.9878008385207 # Commanded vehicle depth:101.706587976150217 # Seafloor depth:-152.117141 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.40; MB_Bottom_Detect_Filter_Max_Range = 203.95; 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 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 101.706588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817004; longitude = -121.853821; captureRadius = 10; duration = 25; initialDepth = 101.706588; finalDepth = 101.706588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1255480238495 # Actual altitude: 52.1255480238495 # Commanded vehicle depth:101.706587976150445 # Seafloor depth:-153.832136 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.38; 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 102.946054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816780; longitude = -121.853739; captureRadius = 10; duration = 30; initialDepth = 102.946054; finalDepth = 101.706588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1255480238495 # Actual altitude: 52.1255480238495 # Commanded vehicle depth:102.946054190298156 # Seafloor depth:-154.387604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.85; MB_Bottom_Detect_Filter_Max_Range = 208.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.38; 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 102.946054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816518; longitude = -121.853643; captureRadius = 10; duration = 23; # abortOnTimeout = True; initialDepth = 102.946054; finalDepth = 102.946054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3538118097021 # Actual altitude: 52.3538118097021 # Commanded vehicle depth:102.946054190297900 # Seafloor depth:-155.299866 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.06; 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 102.946054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816562; longitude = -121.853381; captureRadius = 10; duration = 25; initialDepth = 102.946054; finalDepth = 102.946054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.3538118097021 # Actual altitude: 52.3538118097021 # Commanded vehicle depth:102.946054190297758 # Seafloor depth:-154.338760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.94; MB_Bottom_Detect_Filter_Max_Range = 209.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.06; 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 102.905553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816609; longitude = -121.853101; captureRadius = 10; duration = 25; initialDepth = 102.905553; finalDepth = 102.946054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3927058097022 # Actual altitude: 51.3927058097022 # Commanded vehicle depth:102.905553412968516 # Seafloor depth:-152.474772 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.56; MB_Bottom_Detect_Filter_Max_Range = 205.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.18; 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 100.333176 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816656; longitude = -121.852821; captureRadius = 10; duration = 25; initialDepth = 100.333176; finalDepth = 102.905553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7495652138635 # Actual altitude: 50.7495652138635 # Commanded vehicle depth:100.333175786136536 # Seafloor depth:-151.082741 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 203.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 98.255722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816703; longitude = -121.852540; captureRadius = 10; duration = 25; initialDepth = 98.255722; finalDepth = 100.333176; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3428721262335 # Actual altitude: 51.3428721262335 # Commanded vehicle depth:98.255721873766504 # Seafloor depth:-149.598594 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.03; 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 96.173182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816750; longitude = -121.852260; captureRadius = 10; duration = 25; initialDepth = 96.173182; finalDepth = 98.255722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3428721262335 # Actual altitude: 51.3428721262335 # Commanded vehicle depth:96.173182038914632 # Seafloor depth:-146.634324 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.54; MB_Bottom_Detect_Filter_Max_Range = 205.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.03; 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 94.647244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816797; longitude = -121.851980; captureRadius = 10; duration = 25; initialDepth = 94.647244; finalDepth = 96.173182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4611419610854 # Actual altitude: 50.4611419610854 # Commanded vehicle depth:94.647243607955346 # Seafloor depth:-144.752872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.18; MB_Bottom_Detect_Filter_Max_Range = 201.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.38; 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 92.519129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816844; longitude = -121.851700; captureRadius = 10; duration = 25; initialDepth = 92.519129; finalDepth = 94.647244; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1056283920447 # Actual altitude: 50.1056283920447 # Commanded vehicle depth:92.519129344245812 # Seafloor depth:-142.386984 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; 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 90.299492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816891; longitude = -121.851420; captureRadius = 10; duration = 25; initialDepth = 90.299492; finalDepth = 92.519129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3071158010955 # Actual altitude: 50.3071158010955 # Commanded vehicle depth:90.299492198904517 # Seafloor depth:-140.606608 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.92; 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 86.901524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816937; longitude = -121.851139; captureRadius = 10; duration = 25; initialDepth = 86.901524; finalDepth = 90.299492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7110254471196 # Actual altitude: 51.7110254471196 # Commanded vehicle depth:86.901523552880434 # Seafloor depth:-138.612549 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.13; 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 86.901524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816984; longitude = -121.850859; captureRadius = 10; duration = 25; initialDepth = 86.901524; finalDepth = 86.901524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7110254471196 # Actual altitude: 51.7110254471196 # Commanded vehicle depth:86.901523552879212 # Seafloor depth:-135.656055 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.84; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.68; MB_Bottom_Detect_Filter_Max_Range = 206.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.13; 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 83.173145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817031; longitude = -121.850579; captureRadius = 10; duration = 25; initialDepth = 83.173145; finalDepth = 86.901524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1650326609951 # Actual altitude: 50.1650326609951 # Commanded vehicle depth:83.173145339004947 # Seafloor depth:-133.338178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.66; 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 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 79.048711 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817078; longitude = -121.850299; captureRadius = 10; duration = 25; initialDepth = 79.048711; finalDepth = 83.173145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.089418195215 # Actual altitude: 51.089418195215 # Commanded vehicle depth:79.048710804785031 # Seafloor depth:-130.138129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; 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 77.407876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817125; longitude = -121.850019; captureRadius = 10; duration = 25; initialDepth = 77.407876; finalDepth = 79.048711; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.089418195215 # Actual altitude: 51.089418195215 # Commanded vehicle depth:77.407875515964832 # Seafloor depth:-127.496823 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; 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 74.448400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817172; longitude = -121.849738; captureRadius = 10; duration = 25; initialDepth = 74.448400; finalDepth = 77.407876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4157902080235 # Actual altitude: 50.4157902080235 # Commanded vehicle depth:74.448399791976527 # Seafloor depth:-124.864190 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.25; 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 72.863684 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817219; longitude = -121.849458; captureRadius = 10; duration = 25; initialDepth = 72.863684; finalDepth = 74.448400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4157902080235 # Actual altitude: 50.4157902080235 # Commanded vehicle depth:72.863684226212598 # Seafloor depth:-122.299961 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.25; 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 71.040290 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817266; longitude = -121.849178; captureRadius = 10; duration = 25; initialDepth = 71.040290; finalDepth = 72.863684; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.705192399839 # Actual altitude: 49.705192399839 # Commanded vehicle depth:71.040289600160975 # Seafloor depth:-120.745482 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 198.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.12; 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 68.426341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817313; longitude = -121.848898; captureRadius = 10; duration = 25; initialDepth = 68.426341; finalDepth = 71.040290; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3833755353722 # Actual altitude: 51.3833755353722 # Commanded vehicle depth:68.426341464627853 # Seafloor depth:-119.809717 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.15; 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 67.426591 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817360; longitude = -121.848618; captureRadius = 10; duration = 25; initialDepth = 67.426591; finalDepth = 68.426341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3833755353722 # Actual altitude: 51.3833755353722 # Commanded vehicle depth:67.426591241696002 # Seafloor depth:-117.868335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.53; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.55; MB_Bottom_Detect_Filter_Max_Range = 205.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.15; 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 65.082190 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817407; longitude = -121.848337; captureRadius = 10; duration = 25; initialDepth = 65.082190; finalDepth = 67.426591; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6804753342702 # Actual altitude: 51.6804753342702 # Commanded vehicle depth:65.082189665729771 # Seafloor depth:-116.762665 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.04; 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 63.542047 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817454; longitude = -121.848057; captureRadius = 10; duration = 25; initialDepth = 63.542047; finalDepth = 65.082190; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6804753342702 # Actual altitude: 51.6804753342702 # Commanded vehicle depth:63.542046599381706 # Seafloor depth:-114.954928 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.04; 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 62.691135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817501; longitude = -121.847777; captureRadius = 10; duration = 25; initialDepth = 62.691135; finalDepth = 63.542047; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4128814006183 # Actual altitude: 51.4128814006183 # Commanded vehicle depth:62.691135477064194 # Seafloor depth:-113.122818 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.57; MB_Bottom_Detect_Filter_Max_Range = 205.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.24; 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 61.001062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817548; longitude = -121.847497; captureRadius = 10; duration = 25; initialDepth = 61.001062; finalDepth = 62.691135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4316825229358 # Actual altitude: 50.4316825229358 # Commanded vehicle depth:61.001062343785605 # Seafloor depth:-111.081739 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.30; 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 57.655261 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817595; longitude = -121.847217; captureRadius = 10; duration = 25; initialDepth = 57.655261; finalDepth = 61.001062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8215421237862 # Actual altitude: 50.8215421237862 # Commanded vehicle depth:57.655260876213760 # Seafloor depth:-108.476803 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.29; MB_Rate = 2; MB_Gain = 70; 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 = 152.46; 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 55.011458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817641; longitude = -121.846936; captureRadius = 10; duration = 25; initialDepth = 55.011458; finalDepth = 57.655261; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8215421237862 # Actual altitude: 50.8215421237862 # Commanded vehicle depth:55.011457999048929 # Seafloor depth:-105.754444 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.29; MB_Rate = 2; MB_Gain = 70; 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 = 152.46; 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 53.047439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817688; longitude = -121.846656; captureRadius = 10; duration = 25; initialDepth = 53.047439; finalDepth = 55.011458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7429860009511 # Actual altitude: 50.7429860009511 # Commanded vehicle depth:53.047439135749585 # Seafloor depth:-102.701622 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.23; 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 49.815082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817735; longitude = -121.846376; captureRadius = 10; duration = 25; initialDepth = 49.815082; finalDepth = 53.047439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.4520725429301 # Actual altitude: 51.4520725429301 # Commanded vehicle depth:49.815082457069906 # Seafloor depth:-101.267155 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.36; 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 47.695827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817782; longitude = -121.846096; captureRadius = 10; duration = 25; initialDepth = 47.695827; finalDepth = 49.815082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0058738295624 # Actual altitude: 52.0058738295624 # Commanded vehicle depth:47.695827170437553 # Seafloor depth:-99.701701 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.02; 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 47.022791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817829; longitude = -121.845816; captureRadius = 10; duration = 25; initialDepth = 47.022791; finalDepth = 47.695827; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0058738295624 # Actual altitude: 52.0058738295624 # Commanded vehicle depth:47.022790570426196 # Seafloor depth:-94.648666 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.02; 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 40.931671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817876; longitude = -121.845535; captureRadius = 10; duration = 25; initialDepth = 40.931671; finalDepth = 47.022791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6258754295738 # Actual altitude: 47.6258754295738 # Commanded vehicle depth:40.931671125733942 # Seafloor depth:-87.375662 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 190.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.05; MB_Bottom_Detect_Filter_Max_Range = 190.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 142.88; 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 34.540587 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817923; longitude = -121.845255; captureRadius = 10; duration = 25; initialDepth = 34.540587; finalDepth = 40.931671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.4439908742661 # Actual altitude: 46.4439908742661 # Commanded vehicle depth:34.540587336691004 # Seafloor depth:-78.366314 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 185.78; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.58; MB_Bottom_Detect_Filter_Max_Range = 185.78; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 139.33; 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 23.698839 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817970; longitude = -121.844975; captureRadius = 10; duration = 25; initialDepth = 23.698839; finalDepth = 34.540587; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8158705673478 # Actual altitude: 47.8158705673478 # Commanded vehicle depth:23.698839432652193 # Seafloor depth:-71.514710 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 191.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.13; MB_Bottom_Detect_Filter_Max_Range = 191.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.45; 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 20.995905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818017; longitude = -121.844695; captureRadius = 10; duration = 25; initialDepth = 20.995905; finalDepth = 23.698839; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8158705673478 # Actual altitude: 47.8158705673478 # Commanded vehicle depth:20.995904999045592 # Seafloor depth:-68.036708 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 191.26; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.13; MB_Bottom_Detect_Filter_Max_Range = 191.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.45; 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 17.734585 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818064; longitude = -121.844415; captureRadius = 10; duration = 25; initialDepth = 17.734585; finalDepth = 20.995905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.6835932851776 # Actual altitude: 48.6835932851776 # Commanded vehicle depth:17.734584714822375 # Seafloor depth:-66.418178 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 194.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.47; MB_Bottom_Detect_Filter_Max_Range = 194.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.05; 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 17.039233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818111; longitude = -121.844134; captureRadius = 10; duration = 25; initialDepth = 17.039233; finalDepth = 17.734585; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7139652637648 # Actual altitude: 48.7139652637648 # Commanded vehicle depth:17.039232736235192 # Seafloor depth:-65.753198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 194.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.49; MB_Bottom_Detect_Filter_Max_Range = 194.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.14; 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 17.039233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818158; longitude = -121.843854; captureRadius = 10; duration = 25; initialDepth = 17.039233; finalDepth = 17.039233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7269372637649 # Actual altitude: 48.7269372637649 # Commanded vehicle depth:17.039232736235135 # Seafloor depth:-65.766170 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 194.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.49; MB_Bottom_Detect_Filter_Max_Range = 194.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.18; 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 17.039233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818205; longitude = -121.843574; captureRadius = 10; duration = 27; initialDepth = 17.039233; finalDepth = 17.039233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7269372637649 # Actual altitude: 48.7269372637649 # Commanded vehicle depth:17.039232736235192 # Seafloor depth:-65.502198 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 194.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.49; MB_Bottom_Detect_Filter_Max_Range = 194.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.18; 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 17.039233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818255; longitude = -121.843275; captureRadius = 10; duration = 12; # abortOnTimeout = True; initialDepth = 17.039233; finalDepth = 17.039233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.4629652637648 # Actual altitude: 48.4629652637648 # Commanded vehicle depth:17.039232736235334 # Seafloor depth:-65.497335 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 193.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.39; MB_Bottom_Detect_Filter_Max_Range = 193.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.39; 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 17.206006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818227; longitude = -121.843406; captureRadius = 10; duration = 25; initialDepth = 17.206006; finalDepth = 17.039233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5077263844419 # Actual altitude: 48.5077263844419 # Commanded vehicle depth:17.206005615558070 # Seafloor depth:-65.713732 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 194.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.40; MB_Bottom_Detect_Filter_Max_Range = 194.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.52; 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 17.347129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818169; longitude = -121.843686; captureRadius = 10; duration = 25; initialDepth = 17.347129; finalDepth = 17.206006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5077263844419 # Actual altitude: 48.5077263844419 # Commanded vehicle depth:17.347129376167402 # Seafloor depth:-65.727794 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 194.03; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.40; MB_Bottom_Detect_Filter_Max_Range = 194.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.52; 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 17.630769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818110; longitude = -121.843966; captureRadius = 10; duration = 25; initialDepth = 17.630769; finalDepth = 17.347129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3806646238326 # Actual altitude: 48.3806646238326 # Commanded vehicle depth:17.630768855174011 # Seafloor depth:-65.793293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 193.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.35; MB_Bottom_Detect_Filter_Max_Range = 193.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.14; 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 18.247027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818051; longitude = -121.844247; captureRadius = 10; duration = 25; initialDepth = 18.247027; finalDepth = 17.630769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.162524144826 # Actual altitude: 48.162524144826 # Commanded vehicle depth:18.247026604128507 # Seafloor depth:-66.221503 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 192.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.27; MB_Bottom_Detect_Filter_Max_Range = 192.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 144.49; 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 19.090304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817993; longitude = -121.844527; captureRadius = 10; duration = 25; initialDepth = 19.090304; finalDepth = 18.247027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9744763958715 # Actual altitude: 47.9744763958715 # Commanded vehicle depth:19.090303812076115 # Seafloor depth:-66.873279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 191.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.19; MB_Bottom_Detect_Filter_Max_Range = 191.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.92; 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 20.348275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817934; longitude = -121.844807; captureRadius = 10; duration = 25; initialDepth = 20.348275; finalDepth = 19.090304; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.803519005014 # Actual altitude: 48.803519005014 # Commanded vehicle depth:20.348274994985957 # Seafloor depth:-69.151794 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 195.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.52; MB_Bottom_Detect_Filter_Max_Range = 195.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.41; 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 25.217052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817875; longitude = -121.845087; captureRadius = 10; duration = 25; initialDepth = 25.217052; finalDepth = 20.348275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.888173801233 # Actual altitude: 48.888173801233 # Commanded vehicle depth:25.217052198766993 # Seafloor depth:-74.105226 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 195.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.56; MB_Bottom_Detect_Filter_Max_Range = 195.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.66; 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 31.272933 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817816; longitude = -121.845367; captureRadius = 10; duration = 25; initialDepth = 31.272933; finalDepth = 25.217052; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2243064637107 # Actual altitude: 51.2243064637107 # Commanded vehicle depth:31.272932536289289 # Seafloor depth:-82.497239 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.90; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.49; MB_Bottom_Detect_Filter_Max_Range = 204.90; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.67; 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 36.841914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817758; longitude = -121.845648; captureRadius = 10; duration = 25; initialDepth = 36.841914; finalDepth = 31.272933; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4266473256538 # Actual altitude: 54.4266473256538 # Commanded vehicle depth:36.841913674346188 # Seafloor depth:-91.268561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.28; 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 45.637568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817699; longitude = -121.845928; captureRadius = 10; duration = 25; initialDepth = 45.637568; finalDepth = 36.841914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4266473256538 # Actual altitude: 54.4266473256538 # Commanded vehicle depth:45.637568495221444 # Seafloor depth:-97.522209 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.77; MB_Bottom_Detect_Filter_Max_Range = 217.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.28; 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 51.643612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817640; longitude = -121.846208; captureRadius = 10; duration = 25; initialDepth = 51.643612; finalDepth = 45.637568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8846405047786 # Actual altitude: 51.8846405047786 # Commanded vehicle depth:51.643612052150445 # Seafloor depth:-100.852598 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.75; MB_Bottom_Detect_Filter_Max_Range = 207.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.65; 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 51.643612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817581; longitude = -121.846488; captureRadius = 10; duration = 25; initialDepth = 51.643612; finalDepth = 51.643612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3479849478488 # Actual altitude: 50.3479849478488 # Commanded vehicle depth:51.643612052151212 # Seafloor depth:-101.991597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.39; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.04; 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 51.643612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817523; longitude = -121.846768; captureRadius = 10; duration = 25; initialDepth = 51.643612; finalDepth = 51.643612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.9289659478488 # Actual altitude: 52.9289659478488 # Commanded vehicle depth:51.643612052151184 # Seafloor depth:-104.572578 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 211.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.17; MB_Bottom_Detect_Filter_Max_Range = 211.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.79; 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 51.643612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817464; longitude = -121.847049; captureRadius = 10; duration = 25; initialDepth = 51.643612; finalDepth = 51.643612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8188499478489 # Actual altitude: 55.8188499478489 # Commanded vehicle depth:51.643612052151070 # Seafloor depth:-107.462462 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.28; 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 = 223.28; 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 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 60.688300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817405; longitude = -121.847329; captureRadius = 10; duration = 25; initialDepth = 60.688300; finalDepth = 51.643612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.8188499478489 # Actual altitude: 55.8188499478489 # Commanded vehicle depth:60.688299918470847 # Seafloor depth:-110.644551 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 223.28; 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 = 223.28; 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 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 63.432905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817347; longitude = -121.847609; captureRadius = 10; duration = 25; initialDepth = 63.432905; finalDepth = 60.688300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9562510815292 # Actual altitude: 49.9562510815292 # Commanded vehicle depth:63.432905086001398 # Seafloor depth:-113.243998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.98; MB_Bottom_Detect_Filter_Max_Range = 199.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.87; 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 65.158280 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817288; longitude = -121.847889; captureRadius = 10; duration = 26; initialDepth = 65.158280; finalDepth = 63.432905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8110929139986 # Actual altitude: 49.8110929139986 # Commanded vehicle depth:65.158280210022866 # Seafloor depth:-114.771767 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 199.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.43; 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 67.092546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817228; longitude = -121.848176; captureRadius = 10; duration = 25; initialDepth = 67.092546; finalDepth = 65.158280; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6134867899771 # Actual altitude: 49.6134867899771 # Commanded vehicle depth:67.092545853832320 # Seafloor depth:-116.296059 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.45; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.85; MB_Bottom_Detect_Filter_Max_Range = 198.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.84; 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 68.866943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817170; longitude = -121.848450; captureRadius = 10; duration = 25; initialDepth = 68.866943; finalDepth = 67.092546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2035131461677 # Actual altitude: 49.2035131461677 # Commanded vehicle depth:68.866942659943106 # Seafloor depth:-117.882145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 196.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.68; MB_Bottom_Detect_Filter_Max_Range = 196.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.61; 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 69.910031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817112; longitude = -121.848730; captureRadius = 10; duration = 25; initialDepth = 69.910031; finalDepth = 68.866943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7343916060558 # Actual altitude: 49.7343916060558 # Commanded vehicle depth:69.910031393944251 # Seafloor depth:-119.644423 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 198.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.20; 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 72.139863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817053; longitude = -121.849010; captureRadius = 10; duration = 25; initialDepth = 72.139863; finalDepth = 69.910031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7343916060558 # Actual altitude: 49.7343916060558 # Commanded vehicle depth:72.139863147405833 # Seafloor depth:-120.498656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 198.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.20; 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 72.139863 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816994; longitude = -121.849290; captureRadius = 10; duration = 25; initialDepth = 72.139863; finalDepth = 72.139863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.545205852588 # Actual altitude: 50.545205852588 # Commanded vehicle depth:72.139863147412001 # Seafloor depth:-122.685069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.64; 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 75.086355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816936; longitude = -121.849570; captureRadius = 10; duration = 25; initialDepth = 75.086355; finalDepth = 72.139863; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.545205852588 # Actual altitude: 50.545205852588 # Commanded vehicle depth:75.086355373011486 # Seafloor depth:-124.674122 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.18; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.22; MB_Bottom_Detect_Filter_Max_Range = 202.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.64; 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 78.050550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816877; longitude = -121.849851; captureRadius = 10; duration = 25; initialDepth = 78.050550; finalDepth = 75.086355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5877666269885 # Actual altitude: 49.5877666269885 # Commanded vehicle depth:78.050549729495600 # Seafloor depth:-127.125424 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 198.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.76; 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 79.036525 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816818; longitude = -121.850131; captureRadius = 10; duration = 25; initialDepth = 79.036525; finalDepth = 78.050550; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2074535178532 # Actual altitude: 51.2074535178532 # Commanded vehicle depth:79.036525482146828 # Seafloor depth:-130.243979 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.62; 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 82.112963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816759; longitude = -121.850411; captureRadius = 10; duration = 25; initialDepth = 82.112963; finalDepth = 79.036525; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2074535178532 # Actual altitude: 51.2074535178532 # Commanded vehicle depth:82.112962707326091 # Seafloor depth:-132.715008 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.83; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.83; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.62; 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 86.076135 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816701; longitude = -121.850691; captureRadius = 10; duration = 25; initialDepth = 86.076135; finalDepth = 82.112963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6020452926739 # Actual altitude: 50.6020452926739 # Commanded vehicle depth:86.076134828326957 # Seafloor depth:-136.200033 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.24; MB_Bottom_Detect_Filter_Max_Range = 202.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.81; 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 89.064464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816642; longitude = -121.850971; captureRadius = 10; duration = 25; initialDepth = 89.064464; finalDepth = 86.076135; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.123898171673 # Actual altitude: 50.123898171673 # Commanded vehicle depth:89.064464162807894 # Seafloor depth:-139.158508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.05; MB_Bottom_Detect_Filter_Max_Range = 200.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.37; 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 91.352034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816583; longitude = -121.851252; captureRadius = 10; duration = 25; initialDepth = 91.352034; finalDepth = 89.064464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0940438371921 # Actual altitude: 50.0940438371921 # Commanded vehicle depth:91.352033652122941 # Seafloor depth:-141.426985 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.38; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.28; 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 92.323984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816525; longitude = -121.851532; captureRadius = 10; duration = 25; initialDepth = 92.323984; finalDepth = 91.352034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8120211638562 # Actual altitude: 51.8120211638562 # Commanded vehicle depth:92.323983836143782 # Seafloor depth:-144.136005 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.25; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.44; 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 96.010639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816466; longitude = -121.851812; captureRadius = 10; duration = 25; initialDepth = 96.010639; finalDepth = 92.323984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8120211638562 # Actual altitude: 51.8120211638562 # Commanded vehicle depth:96.010638514906333 # Seafloor depth:-146.115147 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.25; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.44; 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 97.855693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816407; longitude = -121.852092; captureRadius = 10; duration = 25; initialDepth = 97.855693; finalDepth = 96.010639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1045084850937 # Actual altitude: 50.1045084850937 # Commanded vehicle depth:97.855693141378680 # Seafloor depth:-147.751086 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 100.042192 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816348; longitude = -121.852372; captureRadius = 10; duration = 25; initialDepth = 100.042192; finalDepth = 97.855693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2964837152512 # Actual altitude: 50.2964837152512 # Commanded vehicle depth:100.042192284748836 # Seafloor depth:-150.338676 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.89; 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 101.654699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816290; longitude = -121.852653; captureRadius = 10; duration = 25; initialDepth = 101.654699; finalDepth = 100.042192; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2964837152512 # Actual altitude: 50.2964837152512 # Commanded vehicle depth:101.654698855763627 # Seafloor depth:-151.914893 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.89; 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 102.740345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816231; longitude = -121.852933; captureRadius = 10; duration = 25; initialDepth = 102.740345; finalDepth = 101.654699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4155747563994 # Actual altitude: 50.4155747563994 # Commanded vehicle depth:102.740345243600615 # Seafloor depth:-153.155920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.66; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.25; 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 104.611500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816172; longitude = -121.853213; captureRadius = 10; duration = 25; initialDepth = 104.611500; finalDepth = 102.740345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.865997752436 # Actual altitude: 50.865997752436 # Commanded vehicle depth:104.611500247563981 # Seafloor depth:-155.477498 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.46; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.46; 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 25.829191 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 104.611500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816114; longitude = -121.853493; captureRadius = 10; duration = 25; initialDepth = 104.611500; finalDepth = 104.611500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0170607524348 # Actual altitude: 53.0170607524348 # Commanded vehicle depth:104.611500247565203 # Seafloor depth:-157.628561 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.05; 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 104.611500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816055; longitude = -121.853773; captureRadius = 10; duration = 26; initialDepth = 104.611500; finalDepth = 104.611500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.0170607524348 # Actual altitude: 53.0170607524348 # Commanded vehicle depth:104.611500247565289 # Seafloor depth:-156.230140 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 212.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.21; MB_Bottom_Detect_Filter_Max_Range = 212.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 159.05; 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 104.611500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815995; longitude = -121.854057; captureRadius = 10; duration = 25; initialDepth = 104.611500; finalDepth = 104.611500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6186397524347 # Actual altitude: 51.6186397524347 # Commanded vehicle depth:104.611500247564976 # Seafloor depth:-154.537158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.47; MB_Rate = 2; MB_Gain = 70; 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 = 154.86; 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 103.174963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815937; longitude = -121.854334; captureRadius = 10; duration = 25; initialDepth = 103.174963; finalDepth = 104.611500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0681059183349 # Actual altitude: 50.0681059183349 # Commanded vehicle depth:103.174963081665055 # Seafloor depth:-153.243069 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; 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 103.174963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815879; longitude = -121.854614; captureRadius = 10; duration = 25; initialDepth = 103.174963; finalDepth = 103.174963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0681059183349 # Actual altitude: 50.0681059183349 # Commanded vehicle depth:103.174963081664544 # Seafloor depth:-153.102397 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.20; 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 102.595962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815820; longitude = -121.854894; captureRadius = 10; duration = 25; initialDepth = 102.595962; finalDepth = 103.174963; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3940650103773 # Actual altitude: 50.3940650103773 # Commanded vehicle depth:102.595961989622737 # Seafloor depth:-152.990027 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.18; 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 102.595962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815761; longitude = -121.855174; captureRadius = 10; duration = 25; initialDepth = 102.595962; finalDepth = 102.595962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7910530103777 # Actual altitude: 50.7910530103777 # Commanded vehicle depth:102.595961989622310 # Seafloor depth:-153.387015 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.16; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.32; MB_Bottom_Detect_Filter_Max_Range = 203.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.37; 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 102.595962 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815702; longitude = -121.855455; captureRadius = 10; duration = 25; initialDepth = 102.595962; finalDepth = 102.595962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.139126010378 # Actual altitude: 51.139126010378 # Commanded vehicle depth:102.595961989621941 # Seafloor depth:-153.735088 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 102.835120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815644; longitude = -121.855735; captureRadius = 10; duration = 25; initialDepth = 102.835120; finalDepth = 102.595962; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.139126010378 # Actual altitude: 51.139126010378 # Commanded vehicle depth:102.835119997980087 # Seafloor depth:-153.589158 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.56; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.46; MB_Bottom_Detect_Filter_Max_Range = 204.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 102.835120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815585; longitude = -121.856015; captureRadius = 10; duration = 25; initialDepth = 102.835120; finalDepth = 102.835120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1563440020246 # Actual altitude: 51.1563440020246 # Commanded vehicle depth:102.835119997975369 # Seafloor depth:-153.991464 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.63; MB_Rate = 2; MB_Gain = 70; 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 = 153.47; 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 102.689104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815526; longitude = -121.856295; captureRadius = 10; duration = 25; initialDepth = 102.689104; finalDepth = 102.835120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1973450814313 # Actual altitude: 51.1973450814313 # Commanded vehicle depth:102.689103918568676 # Seafloor depth:-153.886449 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.79; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.59; 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 102.488319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815468; longitude = -121.856575; captureRadius = 10; duration = 25; initialDepth = 102.488319; finalDepth = 102.689104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6806883221609 # Actual altitude: 51.6806883221609 # Commanded vehicle depth:102.488318677839047 # Seafloor depth:-154.169007 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.67; MB_Bottom_Detect_Filter_Max_Range = 206.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.04; 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 102.488319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815409; longitude = -121.856856; captureRadius = 10; duration = 25; initialDepth = 102.488319; finalDepth = 102.488319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0129903221611 # Actual altitude: 52.0129903221611 # Commanded vehicle depth:102.488318677838890 # Seafloor depth:-154.501309 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.04; 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 102.488319 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815350; longitude = -121.857136; captureRadius = 10; duration = 25; initialDepth = 102.488319; finalDepth = 102.488319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.0129903221611 # Actual altitude: 52.0129903221611 # Commanded vehicle depth:102.488318677838691 # Seafloor depth:-154.436293 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.81; MB_Bottom_Detect_Filter_Max_Range = 208.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.04; 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 102.366660 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815291; longitude = -121.857416; captureRadius = 10; duration = 25; initialDepth = 102.366660; finalDepth = 102.488319; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9539194681153 # Actual altitude: 51.9539194681153 # Commanded vehicle depth:102.366659531884665 # Seafloor depth:-154.320579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.86; 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 101.988243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815233; longitude = -121.857696; captureRadius = 10; duration = 25; initialDepth = 101.988243; finalDepth = 102.366660; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9539194681153 # Actual altitude: 51.9539194681153 # Commanded vehicle depth:101.988242617436555 # Seafloor depth:-153.836459 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.82; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.78; MB_Bottom_Detect_Filter_Max_Range = 207.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.86; 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 100.844654 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815174; longitude = -121.857976; captureRadius = 10; duration = 25; initialDepth = 100.844654; finalDepth = 101.988243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8703588229783 # Actual altitude: 52.8703588229783 # Commanded vehicle depth:100.844654177021681 # Seafloor depth:-153.715013 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 211.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.61; 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 100.155809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815115; longitude = -121.858257; captureRadius = 10; duration = 25; initialDepth = 100.155809; finalDepth = 100.844654; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.8703588229783 # Actual altitude: 52.8703588229783 # Commanded vehicle depth:100.155808691556416 # Seafloor depth:-152.428450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 211.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.15; MB_Bottom_Detect_Filter_Max_Range = 211.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.61; 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 98.512991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815057; longitude = -121.858537; captureRadius = 10; duration = 25; initialDepth = 98.512991; finalDepth = 100.155809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2726413084436 # Actual altitude: 52.2726413084436 # Commanded vehicle depth:98.512991212255628 # Seafloor depth:-148.681790 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.82; 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 90.308010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814998; longitude = -121.858817; captureRadius = 10; duration = 25; initialDepth = 90.308010; finalDepth = 98.512991; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8406773960116 # Actual altitude: 51.8406773960116 # Commanded vehicle depth:90.308009603988353 # Seafloor depth:-142.148687 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.52; 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 87.778877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814939; longitude = -121.859097; captureRadius = 10; duration = 25; initialDepth = 87.778877; finalDepth = 90.308010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.8406773960116 # Actual altitude: 51.8406773960116 # Commanded vehicle depth:87.778876597537703 # Seafloor depth:-135.759544 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.74; MB_Bottom_Detect_Filter_Max_Range = 207.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.52; 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 81.798391 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814880; longitude = -121.859377; captureRadius = 10; duration = 25; initialDepth = 81.798391; finalDepth = 87.778877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.2441345808147 # Actual altitude: 48.2441345808147 # Commanded vehicle depth:81.798391419185322 # Seafloor depth:-130.042526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 192.98; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.30; MB_Bottom_Detect_Filter_Max_Range = 192.98; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 144.73; 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 74.814753 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814822; longitude = -121.859658; captureRadius = 10; duration = 25; initialDepth = 74.814753; finalDepth = 81.798391; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9429895662335 # Actual altitude: 48.9429895662335 # Commanded vehicle depth:74.814753433766512 # Seafloor depth:-123.757743 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 195.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 195.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.83; 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 69.284415 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814763; longitude = -121.859938; captureRadius = 10; duration = 25; initialDepth = 69.284415; finalDepth = 74.814753; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9429895662335 # Actual altitude: 48.9429895662335 # Commanded vehicle depth:69.284415448207369 # Seafloor depth:-117.241174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 195.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.58; MB_Bottom_Detect_Filter_Max_Range = 195.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 146.83; 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 63.746417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814704; longitude = -121.860218; captureRadius = 10; duration = 25; initialDepth = 63.746417; finalDepth = 69.284415; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1338650654628 # Actual altitude: 49.1338650654628 # Commanded vehicle depth:63.746416934537159 # Seafloor depth:-112.880282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 196.54; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.65; MB_Bottom_Detect_Filter_Max_Range = 196.54; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.40; 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 58.030735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814646; longitude = -121.860498; captureRadius = 10; duration = 25; initialDepth = 58.030735; finalDepth = 63.746417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9042580693543 # Actual altitude: 50.9042580693543 # Commanded vehicle depth:58.030734930645671 # Seafloor depth:-108.934993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.62; 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 25.829629 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 56.639034 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814587; longitude = -121.860778; captureRadius = 10; duration = 25; initialDepth = 56.639034; finalDepth = 58.030735; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.9042580693543 # Actual altitude: 50.9042580693543 # Commanded vehicle depth:56.639034367596054 # Seafloor depth:-106.129023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.62; 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 25.829645 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 53.956200 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814528; longitude = -121.861059; captureRadius = 10; duration = 25; initialDepth = 53.956200; finalDepth = 56.639034; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4899886324039 # Actual altitude: 49.4899886324039 # Commanded vehicle depth:53.956200044161506 # Seafloor depth:-101.379683 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.96; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.80; MB_Bottom_Detect_Filter_Max_Range = 197.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.47; 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 48.968557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814469; longitude = -121.861339; captureRadius = 10; duration = 25; initialDepth = 48.968557; finalDepth = 53.956200; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.78356736036 # Actual altitude: 49.78356736036 # Commanded vehicle depth:48.968556639639978 # Seafloor depth:-98.752124 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.13; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 199.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.35; 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 43.104986 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814411; longitude = -121.861619; captureRadius = 10; duration = 25; initialDepth = 43.104986; finalDepth = 48.968557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4330589299807 # Actual altitude: 50.4330589299807 # Commanded vehicle depth:43.104986070019308 # Seafloor depth:-93.538045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.30; 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 41.696193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814352; longitude = -121.861899; captureRadius = 10; duration = 25; initialDepth = 41.696193; finalDepth = 43.104986; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4330589299807 # Actual altitude: 50.4330589299807 # Commanded vehicle depth:41.696193285978651 # Seafloor depth:-90.142872 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.30; 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 38.247421 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814293; longitude = -121.862179; captureRadius = 10; duration = 25; initialDepth = 38.247421; finalDepth = 41.696193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8411957895646 # Actual altitude: 49.8411957895646 # Commanded vehicle depth:38.247421210435391 # Seafloor depth:-88.088617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 199.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.52; 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 36.097546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814235; longitude = -121.862460; captureRadius = 10; duration = 25; initialDepth = 36.097546; finalDepth = 38.247421; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.342109900613 # Actual altitude: 50.342109900613 # Commanded vehicle depth:36.097546099387046 # Seafloor depth:-86.439656 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; 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 35.442916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814176; longitude = -121.862740; captureRadius = 10; duration = 29; initialDepth = 35.442916; finalDepth = 36.097546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.342109900613 # Actual altitude: 50.342109900613 # Commanded vehicle depth:35.442916110659539 # Seafloor depth:-85.064282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; 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 34.297665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814109; longitude = -121.863057; captureRadius = 10; duration = 13; # abortOnTimeout = True; initialDepth = 34.297665; finalDepth = 35.442916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6213658893405 # Actual altitude: 49.6213658893405 # Commanded vehicle depth:34.297664638565301 # Seafloor depth:-83.400380 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.85; MB_Bottom_Detect_Filter_Max_Range = 198.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.86; 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 33.581533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814006; longitude = -121.863132; captureRadius = 10; duration = 25; initialDepth = 33.581533; finalDepth = 34.297665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5685247776505 # Actual altitude: 49.5685247776505 # Commanded vehicle depth:33.581533222349456 # Seafloor depth:-83.150058 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.27; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.83; MB_Bottom_Detect_Filter_Max_Range = 198.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.71; 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 33.080390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813810; longitude = -121.863273; captureRadius = 10; duration = 28; initialDepth = 33.080390; finalDepth = 33.581533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6607387115551 # Actual altitude: 49.6607387115551 # Commanded vehicle depth:33.080390288444910 # Seafloor depth:-82.741129 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.86; MB_Bottom_Detect_Filter_Max_Range = 198.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.98; 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 32.666516 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813586; longitude = -121.863435; captureRadius = 10; duration = 28; initialDepth = 32.666516; finalDepth = 33.080390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6933730320189 # Actual altitude: 49.6933730320189 # Commanded vehicle depth:32.666515967981098 # Seafloor depth:-82.359889 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.88; MB_Bottom_Detect_Filter_Max_Range = 198.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.08; 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 32.074315 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813362; longitude = -121.863596; captureRadius = 10; duration = 28; initialDepth = 32.074315; finalDepth = 32.666516; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7325223213171 # Actual altitude: 49.7325223213171 # Commanded vehicle depth:32.074314678682867 # Seafloor depth:-81.806837 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.93; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.89; MB_Bottom_Detect_Filter_Max_Range = 198.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.20; 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 31.499245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813138; longitude = -121.863758; captureRadius = 10; duration = 28; initialDepth = 31.499245; finalDepth = 32.074315; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8755184998676 # Actual altitude: 49.8755184998676 # Commanded vehicle depth:31.499244500132363 # Seafloor depth:-81.374763 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 199.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.63; 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 31.499245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812914; longitude = -121.863920; captureRadius = 10; duration = 29; initialDepth = 31.499245; finalDepth = 31.499245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8755184998676 # Actual altitude: 49.8755184998676 # Commanded vehicle depth:31.499244500123638 # Seafloor depth:-81.146304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 199.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.63; 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 30.923930 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812685; longitude = -121.864085; captureRadius = 10; duration = 29; initialDepth = 30.923930; finalDepth = 31.499245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6470594998764 # Actual altitude: 49.6470594998764 # Commanded vehicle depth:30.923929895648712 # Seafloor depth:-80.531975 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.86; MB_Bottom_Detect_Filter_Max_Range = 198.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.94; 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 30.341624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812452; longitude = -121.864253; captureRadius = 10; duration = 29; initialDepth = 30.341624; finalDepth = 30.923930; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6307249248699 # Actual altitude: 49.6307249248699 # Commanded vehicle depth:30.341624075130056 # Seafloor depth:-79.972349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.52; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.85; MB_Bottom_Detect_Filter_Max_Range = 198.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.89; 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 30.096058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812219; longitude = -121.864421; captureRadius = 10; duration = 25; initialDepth = 30.096058; finalDepth = 30.341624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6477130766265 # Actual altitude: 49.6477130766265 # Commanded vehicle depth:30.096057923373451 # Seafloor depth:-79.743771 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.86; MB_Bottom_Detect_Filter_Max_Range = 198.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.94; 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 30.080946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812018; longitude = -121.864566; captureRadius = 10; duration = 28; initialDepth = 30.080946; finalDepth = 30.096058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6477130766265 # Actual altitude: 49.6477130766265 # Commanded vehicle depth:30.080945790695210 # Seafloor depth:-79.199896 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.59; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.86; MB_Bottom_Detect_Filter_Max_Range = 198.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.94; 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 30.080946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811794; longitude = -121.864728; captureRadius = 10; duration = 28; initialDepth = 30.080946; finalDepth = 30.080946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.186953209967 # Actual altitude: 49.186953209967 # Commanded vehicle depth:30.080945790032956 # Seafloor depth:-79.267899 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 196.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.67; MB_Bottom_Detect_Filter_Max_Range = 196.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.56; 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 29.950456 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811570; longitude = -121.864890; captureRadius = 10; duration = 28; initialDepth = 29.950456; finalDepth = 30.080946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.186953209967 # Actual altitude: 49.186953209967 # Commanded vehicle depth:29.950455824831948 # Seafloor depth:-78.468262 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 196.75; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.67; MB_Bottom_Detect_Filter_Max_Range = 196.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.56; 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 29.736721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811346; longitude = -121.865051; captureRadius = 10; duration = 28; initialDepth = 29.736721; finalDepth = 29.950456; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.517806175168 # Actual altitude: 48.517806175168 # Commanded vehicle depth:29.736720696295890 # Seafloor depth:-78.001704 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 194.07; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.41; MB_Bottom_Detect_Filter_Max_Range = 194.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.55; 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 29.736721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811121; longitude = -121.865213; captureRadius = 10; duration = 28; initialDepth = 29.736721; finalDepth = 29.736721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3547483037041 # Actual altitude: 48.3547483037041 # Commanded vehicle depth:29.736720696295862 # Seafloor depth:-78.091469 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 193.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.34; MB_Bottom_Detect_Filter_Max_Range = 193.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.06; 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 30.006232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810897; longitude = -121.865375; captureRadius = 10; duration = 26; initialDepth = 30.006232; finalDepth = 29.736721; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3547483037041 # Actual altitude: 48.3547483037041 # Commanded vehicle depth:30.006232298564612 # Seafloor depth:-77.843304 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 193.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.34; MB_Bottom_Detect_Filter_Max_Range = 193.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 145.06; 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 30.006232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810692; longitude = -121.865523; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 30.006232; finalDepth = 30.006232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8370717014354 # Actual altitude: 47.8370717014354 # Commanded vehicle depth:30.006232298565237 # Seafloor depth:-77.725382 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 191.35; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.13; MB_Bottom_Detect_Filter_Max_Range = 191.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.51; 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 30.006232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810689; longitude = -121.865430; captureRadius = 10; duration = 25; initialDepth = 30.006232; finalDepth = 30.006232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7191497014348 # Actual altitude: 47.7191497014348 # Commanded vehicle depth:30.006232298565266 # Seafloor depth:-77.677391 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 190.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.09; MB_Bottom_Detect_Filter_Max_Range = 190.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.16; 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 30.778621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810678; longitude = -121.865149; captureRadius = 10; duration = 25; initialDepth = 30.778621; finalDepth = 30.006232; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.6711587014347 # Actual altitude: 47.6711587014347 # Commanded vehicle depth:30.778620884754218 # Seafloor depth:-77.720045 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 190.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.07; MB_Bottom_Detect_Filter_Max_Range = 190.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.01; 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 31.508305 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810668; longitude = -121.864869; captureRadius = 10; duration = 25; initialDepth = 31.508305; finalDepth = 30.778621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.9414241152458 # Actual altitude: 46.9414241152458 # Commanded vehicle depth:31.508305404963920 # Seafloor depth:-78.333947 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 187.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.78; MB_Bottom_Detect_Filter_Max_Range = 187.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 140.82; 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 32.720997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810658; longitude = -121.864589; captureRadius = 10; duration = 25; initialDepth = 32.720997; finalDepth = 31.508305; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.8256415950361 # Actual altitude: 46.8256415950361 # Commanded vehicle depth:32.720996508710783 # Seafloor depth:-79.010745 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 187.30; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 18.73; MB_Bottom_Detect_Filter_Max_Range = 187.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 140.48; 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 33.102618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810648; longitude = -121.864309; captureRadius = 10; duration = 25; initialDepth = 33.102618; finalDepth = 32.720997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.0568321853067 # Actual altitude: 49.0568321853067 # Commanded vehicle depth:33.102617814693275 # Seafloor depth:-82.159450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 196.23; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.62; MB_Bottom_Detect_Filter_Max_Range = 196.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.17; 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 36.485783 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810637; longitude = -121.864029; captureRadius = 10; duration = 25; initialDepth = 36.485783; finalDepth = 33.102618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7926200207594 # Actual altitude: 51.7926200207594 # Commanded vehicle depth:36.485782979240554 # Seafloor depth:-88.278403 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.38; 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 46.574309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810627; longitude = -121.863748; captureRadius = 10; duration = 25; initialDepth = 46.574309; finalDepth = 36.485783; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7926200207594 # Actual altitude: 51.7926200207594 # Commanded vehicle depth:46.574308873608061 # Seafloor depth:-93.868197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.17; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.72; MB_Bottom_Detect_Filter_Max_Range = 207.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.38; 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 51.500182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810617; longitude = -121.863468; captureRadius = 10; duration = 25; initialDepth = 51.500182; finalDepth = 46.574309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.8094154435996 # Actual altitude: 47.8094154435996 # Commanded vehicle depth:51.500181556400406 # Seafloor depth:-99.309597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 191.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.12; MB_Bottom_Detect_Filter_Max_Range = 191.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 143.43; 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 54.474688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810607; longitude = -121.863188; captureRadius = 10; duration = 25; initialDepth = 54.474688; finalDepth = 51.500182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3046792103587 # Actual altitude: 51.3046792103587 # Commanded vehicle depth:54.474687789641337 # Seafloor depth:-105.779367 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 63.614645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810597; longitude = -121.862908; captureRadius = 10; duration = 25; initialDepth = 63.614645; finalDepth = 54.474688; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3046792103587 # Actual altitude: 51.3046792103587 # Commanded vehicle depth:63.614644859315035 # Seafloor depth:-112.384918 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 70.876875 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810586; longitude = -121.862628; captureRadius = 10; duration = 25; initialDepth = 70.876875; finalDepth = 63.614645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6614377233044 # Actual altitude: 49.6614377233044 # Commanded vehicle depth:70.876875276695642 # Seafloor depth:-120.538313 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.86; MB_Bottom_Detect_Filter_Max_Range = 198.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.98; 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 77.023617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810576; longitude = -121.862347; captureRadius = 10; duration = 25; initialDepth = 77.023617; finalDepth = 70.876875; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2417141192688 # Actual altitude: 51.2417141192688 # Commanded vehicle depth:77.023616880731197 # Seafloor depth:-128.265331 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.97; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.50; MB_Bottom_Detect_Filter_Max_Range = 204.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.73; 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 84.882675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810566; longitude = -121.862067; captureRadius = 10; duration = 25; initialDepth = 84.882675; finalDepth = 77.023617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1784705197312 # Actual altitude: 52.1784705197312 # Commanded vehicle depth:84.882675480268830 # Seafloor depth:-137.061146 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.54; 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 91.589006 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810556; longitude = -121.861787; captureRadius = 10; duration = 25; initialDepth = 91.589006; finalDepth = 84.882675; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1784705197312 # Actual altitude: 52.1784705197312 # Commanded vehicle depth:91.589006047315820 # Seafloor depth:-142.649724 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 208.71; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.87; MB_Bottom_Detect_Filter_Max_Range = 208.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.54; 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 98.657348 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810545; longitude = -121.861507; captureRadius = 10; duration = 25; initialDepth = 98.657348; finalDepth = 91.589006; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.2872701224836 # Actual altitude: 52.2872701224836 # Commanded vehicle depth:98.657347877516401 # Seafloor depth:-150.944618 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 209.15; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.86; 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 99.570212 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810535; longitude = -121.861227; captureRadius = 10; duration = 25; initialDepth = 99.570212; finalDepth = 98.657348; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4660733856903 # Actual altitude: 54.4660733856903 # Commanded vehicle depth:99.570211614309727 # Seafloor depth:-154.036285 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.40; 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 106.651530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810525; longitude = -121.860946; captureRadius = 10; duration = 25; initialDepth = 106.651530; finalDepth = 99.570212; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.4660733856903 # Actual altitude: 54.4660733856903 # Commanded vehicle depth:106.651530230720681 # Seafloor depth:-157.037574 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 217.86; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.79; MB_Bottom_Detect_Filter_Max_Range = 217.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.40; 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 109.817262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810515; longitude = -121.860666; captureRadius = 10; duration = 25; initialDepth = 109.817262; finalDepth = 106.651530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.1821697039061 # Actual altitude: 51.1821697039061 # Commanded vehicle depth:109.817262296093872 # Seafloor depth:-160.999432 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.47; MB_Bottom_Detect_Filter_Max_Range = 204.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.55; 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 112.032417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810504; longitude = -121.860386; captureRadius = 10; duration = 25; initialDepth = 112.032417; finalDepth = 109.817262; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7037477728555 # Actual altitude: 52.7037477728555 # Commanded vehicle depth:112.032417227144521 # Seafloor depth:-164.736165 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.11; 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 116.766490 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810494; longitude = -121.860106; captureRadius = 10; duration = 25; initialDepth = 116.766490; finalDepth = 112.032417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.7037477728555 # Actual altitude: 52.7037477728555 # Commanded vehicle depth:116.766490068083499 # Seafloor depth:-166.587371 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 210.81; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.08; MB_Bottom_Detect_Filter_Max_Range = 210.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.11; 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 118.774919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810484; longitude = -121.859826; captureRadius = 10; duration = 25; initialDepth = 118.774919; finalDepth = 116.766490; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8990742962428 # Actual altitude: 50.8990742962428 # Commanded vehicle depth:118.774918703757209 # Seafloor depth:-169.673993 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.70; 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 121.178193 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810474; longitude = -121.859545; captureRadius = 10; duration = 25; initialDepth = 121.178193; finalDepth = 118.774919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8990742962428 # Actual altitude: 50.8990742962428 # Commanded vehicle depth:121.178192693813799 # Seafloor depth:-171.803840 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.36; MB_Bottom_Detect_Filter_Max_Range = 203.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.70; 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 122.944314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810464; longitude = -121.859265; captureRadius = 10; duration = 25; initialDepth = 122.944314; finalDepth = 121.178193; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6256473061862 # Actual altitude: 50.6256473061862 # Commanded vehicle depth:122.944314026991691 # Seafloor depth:-172.814174 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.50; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.88; 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 123.421046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810453; longitude = -121.858985; captureRadius = 10; duration = 25; initialDepth = 123.421046; finalDepth = 122.944314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7367001105985 # Actual altitude: 51.7367001105985 # Commanded vehicle depth:123.421045889401483 # Seafloor depth:-175.157746 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.21; 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 126.121663 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810443; longitude = -121.858705; captureRadius = 10; duration = 25; initialDepth = 126.121663; finalDepth = 123.421046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7367001105985 # Actual altitude: 51.7367001105985 # Commanded vehicle depth:126.121663402388975 # Seafloor depth:-176.452604 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.95; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.95; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.21; 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 127.422850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810433; longitude = -121.858425; captureRadius = 10; duration = 25; initialDepth = 127.422850; finalDepth = 126.121663; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.476810965687 # Actual altitude: 50.476810965687 # Commanded vehicle depth:127.422850034313001 # Seafloor depth:-177.899661 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.91; 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 25.021729 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 128.855918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810423; longitude = -121.858144; captureRadius = 10; duration = 25; initialDepth = 128.855918; finalDepth = 127.422850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6811665713755 # Actual altitude: 50.6811665713755 # Commanded vehicle depth:128.855918428624506 # Seafloor depth:-179.537085 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.04; 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 131.167253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810412; longitude = -121.857864; captureRadius = 10; duration = 25; initialDepth = 131.167253; finalDepth = 128.855918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6811665713755 # Actual altitude: 50.6811665713755 # Commanded vehicle depth:131.167253052635317 # Seafloor depth:-181.107119 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.27; MB_Bottom_Detect_Filter_Max_Range = 202.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.04; 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 131.443515 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810402; longitude = -121.857584; captureRadius = 10; duration = 25; initialDepth = 131.443515; finalDepth = 131.167253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3763196650887 # Actual altitude: 51.3763196650887 # Commanded vehicle depth:131.443515334911353 # Seafloor depth:-182.819835 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.51; MB_Rate = 2; MB_Gain = 70; 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 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 133.012618 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810392; longitude = -121.857304; captureRadius = 10; duration = 25; initialDepth = 133.012618; finalDepth = 131.443515; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.3763196650887 # Actual altitude: 51.3763196650887 # Commanded vehicle depth:133.012618355470011 # Seafloor depth:-184.013359 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 205.51; MB_Rate = 2; MB_Gain = 70; 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 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 134.637146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810382; longitude = -121.857024; captureRadius = 10; duration = 25; initialDepth = 134.637146; finalDepth = 133.012618; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.00074064453 # Actual altitude: 51.00074064453 # Commanded vehicle depth:134.637146384202509 # Seafloor depth:-184.510054 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.00; MB_Rate = 2; MB_Gain = 70; 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 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 134.637148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810371; longitude = -121.856743; captureRadius = 10; duration = 25; initialDepth = 134.637148; finalDepth = 134.637146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8729076157975 # Actual altitude: 49.8729076157975 # Commanded vehicle depth:134.637148380396070 # Seafloor depth:-184.503894 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.95; MB_Bottom_Detect_Filter_Max_Range = 199.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.62; 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 134.637149 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810361; longitude = -121.856463; captureRadius = 10; duration = 25; initialDepth = 134.637149; finalDepth = 134.637148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5211050277168 # Actual altitude: 50.5211050277168 # Commanded vehicle depth:134.637148972283228 # Seafloor depth:-185.158254 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.56; 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 135.330822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810351; longitude = -121.856183; captureRadius = 10; duration = 25; initialDepth = 135.330822; finalDepth = 134.637149; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5211050277168 # Actual altitude: 50.5211050277168 # Commanded vehicle depth:135.330822421477336 # Seafloor depth:-185.009850 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.56; 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 135.330823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810341; longitude = -121.855903; captureRadius = 10; duration = 25; initialDepth = 135.330823; finalDepth = 135.330822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5055354604829 # Actual altitude: 50.5055354604829 # Commanded vehicle depth:135.330822539517129 # Seafloor depth:-185.836358 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.52; 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 135.330823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810331; longitude = -121.855623; captureRadius = 10; duration = 25; initialDepth = 135.330823; finalDepth = 135.330823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5252003697223 # Actual altitude: 50.5252003697223 # Commanded vehicle depth:135.330822630277709 # Seafloor depth:-185.856023 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; 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 135.330823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810320; longitude = -121.855342; captureRadius = 10; duration = 25; initialDepth = 135.330823; finalDepth = 135.330823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5252003697223 # Actual altitude: 50.5252003697223 # Commanded vehicle depth:135.330822627473509 # Seafloor depth:-185.357162 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.58; 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 135.330822 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810310; longitude = -121.855062; captureRadius = 10; duration = 25; initialDepth = 135.330822; finalDepth = 135.330823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1590855555341 # Actual altitude: 50.1590855555341 # Commanded vehicle depth:135.330822444465923 # Seafloor depth:-185.489908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.48; 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 135.189921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810300; longitude = -121.854782; captureRadius = 10; duration = 25; initialDepth = 135.189921; finalDepth = 135.330822; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1590855555341 # Actual altitude: 50.1590855555341 # Commanded vehicle depth:135.189920594293426 # Seafloor depth:-185.211571 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.64; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.06; MB_Bottom_Detect_Filter_Max_Range = 200.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.48; 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 135.184950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810290; longitude = -121.854502; captureRadius = 10; duration = 25; initialDepth = 135.184950; finalDepth = 135.189921; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0216504057066 # Actual altitude: 50.0216504057066 # Commanded vehicle depth:135.184950344379018 # Seafloor depth:-184.982411 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.06; 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 135.184949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810279; longitude = -121.854222; captureRadius = 10; duration = 25; initialDepth = 135.184949; finalDepth = 135.184950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.797460655621 # Actual altitude: 49.797460655621 # Commanded vehicle depth:135.184948625641340 # Seafloor depth:-184.749278 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.19; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.92; MB_Bottom_Detect_Filter_Max_Range = 199.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.39; 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 135.184949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810269; longitude = -121.853941; captureRadius = 10; duration = 25; initialDepth = 135.184949; finalDepth = 135.184949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8882314056565 # Actual altitude: 49.8882314056565 # Commanded vehicle depth:135.184948594343496 # Seafloor depth:-185.073180 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.55; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.96; MB_Bottom_Detect_Filter_Max_Range = 199.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.66; 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 135.184949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810259; longitude = -121.853661; captureRadius = 10; duration = 25; initialDepth = 135.184949; finalDepth = 135.184949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8538093890967 # Actual altitude: 50.8538093890967 # Commanded vehicle depth:135.184948610903319 # Seafloor depth:-186.038758 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.42; MB_Rate = 2; MB_Gain = 70; 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 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 136.448543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810249; longitude = -121.853381; captureRadius = 10; duration = 25; initialDepth = 136.448543; finalDepth = 135.184949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8538093890967 # Actual altitude: 50.8538093890967 # Commanded vehicle depth:136.448543298768271 # Seafloor depth:-186.787193 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.42; MB_Rate = 2; MB_Gain = 70; 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 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 136.448543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810239; longitude = -121.853101; captureRadius = 10; duration = 25; initialDepth = 136.448543; finalDepth = 136.448543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0206775164793 # Actual altitude: 51.0206775164793 # Commanded vehicle depth:136.448543483520695 # Seafloor depth:-187.469221 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 70; 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 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 136.448543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810228; longitude = -121.852821; captureRadius = 10; duration = 25; initialDepth = 136.448543; finalDepth = 136.448543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0206775164793 # Actual altitude: 51.0206775164793 # Commanded vehicle depth:136.448543477197120 # Seafloor depth:-187.071121 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.08; MB_Rate = 2; MB_Gain = 70; 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 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 136.448543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810218; longitude = -121.852540; captureRadius = 10; duration = 28; initialDepth = 136.448543; finalDepth = 136.448543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.6225775228029 # Actual altitude: 50.6225775228029 # Commanded vehicle depth:136.448543294539093 # Seafloor depth:-186.630671 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.49; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.25; MB_Bottom_Detect_Filter_Max_Range = 202.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.87; 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 135.594971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810206; longitude = -121.852223; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 135.594971; finalDepth = 136.448543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1821277054609 # Actual altitude: 50.1821277054609 # Commanded vehicle depth:135.594971309923949 # Seafloor depth:-184.682983 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; 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 134.872128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810281; longitude = -121.852238; captureRadius = 10; duration = 25; initialDepth = 134.872128; finalDepth = 135.594971; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.752151296121 # Actual altitude: 49.752151296121 # Commanded vehicle depth:134.872127703878959 # Seafloor depth:-184.624279 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.01; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.90; MB_Bottom_Detect_Filter_Max_Range = 199.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.26; 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 134.872128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810505; longitude = -121.852282; captureRadius = 10; duration = 25; initialDepth = 134.872128; finalDepth = 134.872128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4164473087636 # Actual altitude: 50.4164473087636 # Commanded vehicle depth:134.872127691236415 # Seafloor depth:-185.288575 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.67; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.25; 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 134.872128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810729; longitude = -121.852326; captureRadius = 10; duration = 25; initialDepth = 134.872128; finalDepth = 134.872128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7638663092031 # Actual altitude: 50.7638663092031 # Commanded vehicle depth:134.872127690796901 # Seafloor depth:-185.635994 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.06; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.31; MB_Bottom_Detect_Filter_Max_Range = 203.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.29; 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 134.872128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810953; longitude = -121.852371; captureRadius = 10; duration = 25; initialDepth = 134.872128; finalDepth = 134.872128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6149023037198 # Actual altitude: 51.6149023037198 # Commanded vehicle depth:134.872127696280160 # Seafloor depth:-186.487030 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.46; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.84; 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 134.872128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811177; longitude = -121.852415; captureRadius = 10; duration = 25; initialDepth = 134.872128; finalDepth = 134.872128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9040803021745 # Actual altitude: 51.9040803021745 # Commanded vehicle depth:134.872127697825476 # Seafloor depth:-186.776208 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.71; 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 134.872128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811402; longitude = -121.852459; captureRadius = 10; duration = 25; initialDepth = 134.872128; finalDepth = 134.872128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.9040803021745 # Actual altitude: 51.9040803021745 # Commanded vehicle depth:134.872127694668393 # Seafloor depth:-184.894542 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 207.62; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.76; MB_Bottom_Detect_Filter_Max_Range = 207.62; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.71; 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 133.001182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811626; longitude = -121.852504; captureRadius = 10; duration = 25; initialDepth = 133.001182; finalDepth = 134.872128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0224143053316 # Actual altitude: 50.0224143053316 # Commanded vehicle depth:133.001182148341002 # Seafloor depth:-182.419673 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.07; 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 129.791809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811850; longitude = -121.852548; captureRadius = 10; duration = 25; initialDepth = 129.791809; finalDepth = 133.001182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3425468597505 # Actual altitude: 50.3425468597505 # Commanded vehicle depth:129.791809140249541 # Seafloor depth:-180.134356 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; 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 129.791809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812074; longitude = -121.852592; captureRadius = 10; duration = 25; initialDepth = 129.791809; finalDepth = 129.791809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3425468597505 # Actual altitude: 50.3425468597505 # Commanded vehicle depth:129.791809041120842 # Seafloor depth:-176.223737 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.37; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.03; 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 125.388636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812298; longitude = -121.852636; captureRadius = 10; duration = 25; initialDepth = 125.388636; finalDepth = 129.791809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3640983580757 # Actual altitude: 50.3640983580757 # Commanded vehicle depth:125.388635641924282 # Seafloor depth:-175.752734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.46; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.09; 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 123.456924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812522; longitude = -121.852681; captureRadius = 10; duration = 25; initialDepth = 123.456924; finalDepth = 125.388636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8395835665136 # Actual altitude: 50.8395835665136 # Commanded vehicle depth:123.456924433486392 # Seafloor depth:-174.296508 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.52; 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 123.456924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812746; longitude = -121.852725; captureRadius = 10; duration = 25; initialDepth = 123.456924; finalDepth = 123.456924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8395835665136 # Actual altitude: 50.8395835665136 # Commanded vehicle depth:123.456924374316259 # Seafloor depth:-172.481617 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.52; 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 120.774762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812970; longitude = -121.852769; captureRadius = 10; duration = 25; initialDepth = 120.774762; finalDepth = 123.456924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0593774999647 # Actual altitude: 51.0593774999647 # Commanded vehicle depth:120.774761500035282 # Seafloor depth:-171.834139 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.18; 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 120.774761 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813194; longitude = -121.852814; captureRadius = 10; duration = 25; initialDepth = 120.774761; finalDepth = 120.774762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0593774999647 # Actual altitude: 51.0593774999647 # Commanded vehicle depth:120.774761447648658 # Seafloor depth:-170.907232 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.24; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.42; MB_Bottom_Detect_Filter_Max_Range = 204.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.18; 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 119.627947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813418; longitude = -121.852858; captureRadius = 10; duration = 25; initialDepth = 119.627947; finalDepth = 120.774761; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1324705523513 # Actual altitude: 50.1324705523513 # Commanded vehicle depth:119.627947332571665 # Seafloor depth:-169.543396 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.53; MB_Rate = 2; MB_Gain = 70; 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 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 118.631820 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813642; longitude = -121.852902; captureRadius = 10; duration = 25; initialDepth = 118.631820; finalDepth = 119.627947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5094369746462 # Actual altitude: 50.5094369746462 # Commanded vehicle depth:118.631820025353747 # Seafloor depth:-169.141257 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.53; 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 117.602666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813866; longitude = -121.852947; captureRadius = 10; duration = 25; initialDepth = 117.602666; finalDepth = 118.631820; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5094369746462 # Actual altitude: 50.5094369746462 # Commanded vehicle depth:117.602666114704803 # Seafloor depth:-167.996235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.04; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.53; 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 117.602666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814091; longitude = -121.852991; captureRadius = 10; duration = 25; initialDepth = 117.602666; finalDepth = 117.602666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3935688852952 # Actual altitude: 50.3935688852952 # Commanded vehicle depth:117.602666024767530 # Seafloor depth:-166.111672 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.57; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.16; MB_Bottom_Detect_Filter_Max_Range = 201.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.18; 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 115.078120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814315; longitude = -121.853035; captureRadius = 10; duration = 25; initialDepth = 115.078120; finalDepth = 117.602666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2176552221808 # Actual altitude: 50.2176552221808 # Commanded vehicle depth:115.078119777819211 # Seafloor depth:-165.295775 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; 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 113.820579 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814539; longitude = -121.853080; captureRadius = 10; duration = 25; initialDepth = 113.820579; finalDepth = 115.078120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2176552221808 # Actual altitude: 50.2176552221808 # Commanded vehicle depth:113.820578552469314 # Seafloor depth:-164.033641 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.65; 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 113.482874 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814763; longitude = -121.853124; captureRadius = 10; duration = 29; initialDepth = 113.482874; finalDepth = 113.820579; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2130624475307 # Actual altitude: 50.2130624475307 # Commanded vehicle depth:113.482874355786564 # Seafloor depth:-162.511584 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.85; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.64; 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 111.288677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815024; longitude = -121.853176; captureRadius = 10; duration = 8; # abortOnTimeout = True; initialDepth = 111.288677; finalDepth = 113.482874; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7991117196478 # Actual altitude: 50.7991117196478 # Commanded vehicle depth:111.288677280352189 # Seafloor depth:-162.087789 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 70; 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 25.955426 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 111.288677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815099; longitude = -121.853203; captureRadius = 10; duration = 25; initialDepth = 111.288677; finalDepth = 111.288677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7991117196478 # Actual altitude: 50.7991117196478 # Commanded vehicle depth:111.288677276424465 # Seafloor depth:-162.037015 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.20; MB_Rate = 2; MB_Gain = 70; 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 25.955421 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 111.288677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815323; longitude = -121.853287; captureRadius = 10; duration = 25; initialDepth = 111.288677; finalDepth = 111.288677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7483377235755 # Actual altitude: 50.7483377235755 # Commanded vehicle depth:111.288677255024183 # Seafloor depth:-161.039824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 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 110.292063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815547; longitude = -121.853371; captureRadius = 10; duration = 25; initialDepth = 110.292063; finalDepth = 111.288677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8601002211718 # Actual altitude: 49.8601002211718 # Commanded vehicle depth:110.292062778828225 # Seafloor depth:-160.152163 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 199.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.58; 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 109.283152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815771; longitude = -121.853454; captureRadius = 10; duration = 25; initialDepth = 109.283152; finalDepth = 110.292063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8601002211718 # Actual altitude: 49.8601002211718 # Commanded vehicle depth:109.283151587586488 # Seafloor depth:-158.970632 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.44; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 199.44; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.58; 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 107.915959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815995; longitude = -121.853538; captureRadius = 10; duration = 25; initialDepth = 107.915959; finalDepth = 109.283152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7839191012946 # Actual altitude: 49.7839191012946 # Commanded vehicle depth:107.915958898705426 # Seafloor depth:-157.699878 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.14; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.91; MB_Bottom_Detect_Filter_Max_Range = 199.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.35; 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 106.757454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816219; longitude = -121.853622; captureRadius = 10; duration = 25; initialDepth = 106.757454; finalDepth = 107.915959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.8565162504896 # Actual altitude: 49.8565162504896 # Commanded vehicle depth:106.757453749510418 # Seafloor depth:-156.613970 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.43; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.94; MB_Bottom_Detect_Filter_Max_Range = 199.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.57; 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 105.435982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816443; longitude = -121.853705; captureRadius = 10; duration = 25; initialDepth = 105.435982; finalDepth = 106.757454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1903257919065 # Actual altitude: 50.1903257919065 # Commanded vehicle depth:105.435982208093463 # Seafloor depth:-155.626308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.57; 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 104.282425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816668; longitude = -121.853789; captureRadius = 10; duration = 25; initialDepth = 104.282425; finalDepth = 105.435982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5219239116804 # Actual altitude: 50.5219239116804 # Commanded vehicle depth:104.282425088319556 # Seafloor depth:-154.804349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.57; 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 103.570738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816892; longitude = -121.853872; captureRadius = 10; duration = 25; initialDepth = 103.570738; finalDepth = 104.282425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5219239116804 # Actual altitude: 50.5219239116804 # Commanded vehicle depth:103.570738170766347 # Seafloor depth:-153.675945 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.09; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.21; MB_Bottom_Detect_Filter_Max_Range = 202.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.57; 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 103.256803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817116; longitude = -121.853956; captureRadius = 10; duration = 25; initialDepth = 103.256803; finalDepth = 103.570738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1052068292337 # Actual altitude: 50.1052068292337 # Commanded vehicle depth:103.256802996967622 # Seafloor depth:-152.502954 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.42; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.04; MB_Bottom_Detect_Filter_Max_Range = 200.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.32; 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 101.810086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817340; longitude = -121.854040; captureRadius = 10; duration = 25; initialDepth = 101.810086; finalDepth = 103.256803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3523526685589 # Actual altitude: 50.3523526685589 # Commanded vehicle depth:101.810086331441099 # Seafloor depth:-152.162439 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.06; 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 101.810086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817564; longitude = -121.854123; captureRadius = 10; duration = 25; initialDepth = 101.810086; finalDepth = 101.810086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3523526685589 # Actual altitude: 50.3523526685589 # Commanded vehicle depth:101.810086331426248 # Seafloor depth:-151.552548 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.41; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.14; MB_Bottom_Detect_Filter_Max_Range = 201.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.06; 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 101.004398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817788; longitude = -121.854207; captureRadius = 10; duration = 25; initialDepth = 101.004398; finalDepth = 101.810086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4381215093652 # Actual altitude: 50.4381215093652 # Commanded vehicle depth:101.004398490634770 # Seafloor depth:-151.442520 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 70; 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 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 100.721845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818012; longitude = -121.854290; captureRadius = 10; duration = 25; initialDepth = 100.721845; finalDepth = 101.004398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4381215093652 # Actual altitude: 50.4381215093652 # Commanded vehicle depth:100.721844962666296 # Seafloor depth:-150.746637 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.75; MB_Rate = 2; MB_Gain = 70; 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 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 99.413575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818236; longitude = -121.854374; captureRadius = 10; duration = 25; initialDepth = 99.413575; finalDepth = 100.721845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0820671974893 # Actual altitude: 50.0820671974893 # Commanded vehicle depth:99.413574802510681 # Seafloor depth:-149.495642 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.33; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; 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 99.260258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818460; longitude = -121.854458; captureRadius = 10; duration = 25; initialDepth = 99.260258; finalDepth = 99.413575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1631846571443 # Actual altitude: 50.1631846571443 # Commanded vehicle depth:99.260258342855678 # Seafloor depth:-149.423443 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; 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 98.846289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818684; longitude = -121.854541; captureRadius = 10; duration = 25; initialDepth = 98.846289; finalDepth = 99.260258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1631846571443 # Actual altitude: 50.1631846571443 # Commanded vehicle depth:98.846288586163809 # Seafloor depth:-148.974749 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.49; 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 97.790039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818908; longitude = -121.854625; captureRadius = 10; duration = 25; initialDepth = 97.790039; finalDepth = 98.846289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7483056730808 # Actual altitude: 50.7483056730808 # Commanded vehicle depth:97.790039326919242 # Seafloor depth:-148.538345 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; 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 97.790039 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819132; longitude = -121.854708; captureRadius = 10; duration = 25; initialDepth = 97.790039; finalDepth = 97.790039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7483056730808 # Actual altitude: 50.7483056730808 # Commanded vehicle depth:97.790039326917679 # Seafloor depth:-147.380134 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.99; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.30; MB_Bottom_Detect_Filter_Max_Range = 202.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.24; 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 96.502489 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819357; longitude = -121.854792; captureRadius = 10; duration = 25; initialDepth = 96.502489; finalDepth = 97.790039; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5900946730823 # Actual altitude: 49.5900946730823 # Commanded vehicle depth:96.502489346100106 # Seafloor depth:-145.635319 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.36; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.84; MB_Bottom_Detect_Filter_Max_Range = 198.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.77; 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 95.277938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819581; longitude = -121.854876; captureRadius = 10; duration = 25; initialDepth = 95.277938; finalDepth = 96.502489; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4305883144947 # Actual altitude: 49.4305883144947 # Commanded vehicle depth:95.277937685505350 # Seafloor depth:-144.708526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.72; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.77; MB_Bottom_Detect_Filter_Max_Range = 197.72; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.29; 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 94.220121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819805; longitude = -121.854959; captureRadius = 10; duration = 25; initialDepth = 94.220121; finalDepth = 95.277938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5571368392878 # Actual altitude: 50.5571368392878 # Commanded vehicle depth:94.220121160712210 # Seafloor depth:-144.777258 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.23; MB_Rate = 2; MB_Gain = 70; 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 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 94.220121 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820029; longitude = -121.855043; captureRadius = 10; duration = 25; initialDepth = 94.220121; finalDepth = 94.220121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.5571368392878 # Actual altitude: 50.5571368392878 # Commanded vehicle depth:94.220121160711983 # Seafloor depth:-144.026562 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.23; MB_Rate = 2; MB_Gain = 70; 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 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 92.951298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820253; longitude = -121.855127; captureRadius = 10; duration = 25; initialDepth = 92.951298; finalDepth = 94.220121; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9394865406717 # Actual altitude: 49.9394865406717 # Commanded vehicle depth:92.951298459328314 # Seafloor depth:-142.890785 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.98; MB_Bottom_Detect_Filter_Max_Range = 199.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.82; 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 92.720170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820477; longitude = -121.855210; captureRadius = 10; duration = 25; initialDepth = 92.720170; finalDepth = 92.951298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9394865406717 # Actual altitude: 49.9394865406717 # Commanded vehicle depth:92.720170233611839 # Seafloor depth:-141.620750 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.76; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.98; MB_Bottom_Detect_Filter_Max_Range = 199.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.82; 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 90.930906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820701; longitude = -121.855294; captureRadius = 10; duration = 25; initialDepth = 90.930906; finalDepth = 92.720170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9499702392895 # Actual altitude: 49.9499702392895 # Commanded vehicle depth:90.930905760710488 # Seafloor depth:-140.880876 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.80; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.98; MB_Bottom_Detect_Filter_Max_Range = 199.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.85; 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 89.859772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820925; longitude = -121.855377; captureRadius = 10; duration = 25; initialDepth = 89.859772; finalDepth = 90.930906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4682204829127 # Actual altitude: 50.4682204829127 # Commanded vehicle depth:89.859771517087268 # Seafloor depth:-140.327992 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.87; MB_Rate = 2; MB_Gain = 70; 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 25.955268 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 89.276287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821149; longitude = -121.855461; captureRadius = 10; duration = 25; initialDepth = 89.276287; finalDepth = 89.859772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8083928866595 # Actual altitude: 50.8083928866595 # Commanded vehicle depth:89.276287113340487 # Seafloor depth:-140.084680 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 203.23; MB_Rate = 2; MB_Gain = 70; 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 = 152.43; 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 89.276287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821373; longitude = -121.855545; captureRadius = 10; duration = 25; initialDepth = 89.276287; finalDepth = 89.276287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0263898866608 # Actual altitude: 51.0263898866608 # Commanded vehicle depth:89.276287113339237 # Seafloor depth:-140.302677 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.08; 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 89.276287 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821597; longitude = -121.855628; captureRadius = 10; duration = 25; initialDepth = 89.276287; finalDepth = 89.276287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0263898866608 # Actual altitude: 51.0263898866608 # Commanded vehicle depth:89.276287113338611 # Seafloor depth:-138.602250 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 204.11; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.41; MB_Bottom_Detect_Filter_Max_Range = 204.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.08; 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 86.785281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821821; longitude = -121.855712; captureRadius = 10; duration = 25; initialDepth = 86.785281; finalDepth = 89.276287; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7362291191031 # Actual altitude: 50.7362291191031 # Commanded vehicle depth:86.785280880896892 # Seafloor depth:-137.521510 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.21; 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 86.785281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822046; longitude = -121.855795; captureRadius = 10; duration = 25; initialDepth = 86.785281; finalDepth = 86.785281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7362291191031 # Actual altitude: 50.7362291191031 # Commanded vehicle depth:86.785280880894618 # Seafloor depth:-136.181874 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.94; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.94; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.21; 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 84.907938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822270; longitude = -121.855879; captureRadius = 10; duration = 25; initialDepth = 84.907938; finalDepth = 86.785281; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.7169701762152 # Actual altitude: 50.7169701762152 # Commanded vehicle depth:84.907937823784806 # Seafloor depth:-135.624908 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.15; 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 84.907938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822494; longitude = -121.855963; captureRadius = 10; duration = 25; initialDepth = 84.907938; finalDepth = 84.907938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.717277176222 # Actual altitude: 50.717277176222 # Commanded vehicle depth:84.907937823777985 # Seafloor depth:-135.625215 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.15; 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 84.545653 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822718; longitude = -121.856046; captureRadius = 10; duration = 25; initialDepth = 84.545653; finalDepth = 84.907938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.717277176222 # Actual altitude: 50.717277176222 # Commanded vehicle depth:84.545653222742658 # Seafloor depth:-134.807418 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 202.87; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.29; MB_Bottom_Detect_Filter_Max_Range = 202.87; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.15; 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 84.118464 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822942; longitude = -121.856130; captureRadius = 10; duration = 28; initialDepth = 84.118464; finalDepth = 84.545653; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2617647772574 # Actual altitude: 50.2617647772574 # Commanded vehicle depth:84.118464393335159 # Seafloor depth:-133.478581 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.05; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.10; MB_Bottom_Detect_Filter_Max_Range = 201.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.79; 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 82.211358 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823185; longitude = -121.856220; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 82.211358; finalDepth = 84.118464; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3694827907963 # Actual altitude: 50.3694827907963 # Commanded vehicle depth:82.211358209203695 # Seafloor depth:-132.580841 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.11; 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 81.677397 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823390; longitude = -121.856242; captureRadius = 10; duration = 31; initialDepth = 81.677397; finalDepth = 82.211358; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3694827907963 # Actual altitude: 50.3694827907963 # Commanded vehicle depth:81.677397197027261 # Seafloor depth:-131.360117 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.48; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.11; 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 79.923988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823670; longitude = -121.856271; captureRadius = 10; duration = 25; initialDepth = 79.923988; finalDepth = 81.677397; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1933537352512 # Actual altitude: 50.1933537352512 # Commanded vehicle depth:79.923988264748800 # Seafloor depth:-130.117342 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.77; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.08; MB_Bottom_Detect_Filter_Max_Range = 200.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.58; 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 78.529223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823902; longitude = -121.856295; captureRadius = 10; duration = 30; initialDepth = 78.529223; finalDepth = 79.923988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6584549459677 # Actual altitude: 51.6584549459677 # Commanded vehicle depth:78.529223054032286 # Seafloor depth:-130.187678 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.98; 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 78.529223 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824174; longitude = -121.856323; captureRadius = 10; duration = 31; initialDepth = 78.529223; finalDepth = 78.529223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6584549459677 # Actual altitude: 51.6584549459677 # Commanded vehicle depth:78.529223054032315 # Seafloor depth:-128.667734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 206.63; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.63; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.98; 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 74.579468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824454; longitude = -121.856353; captureRadius = 10; duration = 31; initialDepth = 74.579468; finalDepth = 78.529223; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1859984115575 # Actual altitude: 50.1859984115575 # Commanded vehicle depth:74.579467588442483 # Seafloor depth:-124.765466 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.56; 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 72.938747 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824735; longitude = -121.856382; captureRadius = 10; duration = 27; initialDepth = 72.938747; finalDepth = 74.579468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1859984115575 # Actual altitude: 50.1859984115575 # Commanded vehicle depth:72.938747122114123 # Seafloor depth:-122.062920 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.74; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.56; 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 70.450905 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824979; longitude = -121.856407; captureRadius = 10; duration = 28; initialDepth = 70.450905; finalDepth = 72.938747; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0842074926525 # Actual altitude: 50.0842074926525 # Commanded vehicle depth:70.450904507347502 # Seafloor depth:-120.535112 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.03; MB_Bottom_Detect_Filter_Max_Range = 200.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.25; 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 68.047934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825239; longitude = -121.856434; captureRadius = 10; duration = 31; initialDepth = 68.047934; finalDepth = 70.450905; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1821400729495 # Actual altitude: 50.1821400729495 # Commanded vehicle depth:68.047933927050508 # Seafloor depth:-118.230074 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; 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 65.993634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825519; longitude = -121.856463; captureRadius = 10; duration = 31; initialDepth = 65.993634; finalDepth = 68.047934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.1821400729495 # Actual altitude: 50.1821400729495 # Commanded vehicle depth:65.993633609783885 # Seafloor depth:-115.753290 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.55; 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 63.732608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825799; longitude = -121.856493; captureRadius = 10; duration = 31; initialDepth = 63.732608; finalDepth = 65.993634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2206331004513 # Actual altitude: 50.2206331004513 # Commanded vehicle depth:63.732607899548711 # Seafloor depth:-113.953241 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; 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 61.780345 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826079; longitude = -121.856522; captureRadius = 10; duration = 31; initialDepth = 61.780345; finalDepth = 63.732608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.2206331004513 # Actual altitude: 50.2206331004513 # Commanded vehicle depth:61.780344745273680 # Seafloor depth:-111.306310 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.09; MB_Bottom_Detect_Filter_Max_Range = 200.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.66; 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 59.206517 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826359; longitude = -121.856551; captureRadius = 10; duration = 31; initialDepth = 59.206517; finalDepth = 61.780345; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5259652547263 # Actual altitude: 49.5259652547263 # Commanded vehicle depth:59.206516513111566 # Seafloor depth:-108.356844 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.81; MB_Bottom_Detect_Filter_Max_Range = 198.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.58; 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 56.823837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826639; longitude = -121.856580; captureRadius = 10; duration = 31; initialDepth = 56.823837; finalDepth = 59.206517; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1503274868884 # Actual altitude: 49.1503274868884 # Commanded vehicle depth:56.823836791042652 # Seafloor depth:-105.494306 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 196.60; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.66; MB_Bottom_Detect_Filter_Max_Range = 196.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.45; 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 54.023886 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826919; longitude = -121.856609; captureRadius = 10; duration = 31; initialDepth = 54.023886; finalDepth = 56.823837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.1711088003084 # Actual altitude: 49.1711088003084 # Commanded vehicle depth:54.023886199691560 # Seafloor depth:-103.194995 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 196.68; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.67; MB_Bottom_Detect_Filter_Max_Range = 196.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.51; 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 50.951612 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827199; longitude = -121.856638; captureRadius = 10; duration = 31; initialDepth = 50.951612; finalDepth = 54.023886; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9331683669024 # Actual altitude: 49.9331683669024 # Commanded vehicle depth:50.951611633097627 # Seafloor depth:-100.884780 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 199.73; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.97; MB_Bottom_Detect_Filter_Max_Range = 199.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 149.80; 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 48.783949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827480; longitude = -121.856668; captureRadius = 10; duration = 31; initialDepth = 48.783949; finalDepth = 50.951612; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0560471905254 # Actual altitude: 50.0560471905254 # Commanded vehicle depth:48.783948809474595 # Seafloor depth:-98.839996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.17; 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 47.296638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827760; longitude = -121.856697; captureRadius = 10; duration = 31; initialDepth = 47.296638; finalDepth = 48.783949; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0560471905254 # Actual altitude: 50.0560471905254 # Commanded vehicle depth:47.296638024793623 # Seafloor depth:-96.826414 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 200.22; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.02; MB_Bottom_Detect_Filter_Max_Range = 200.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.17; 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 46.012459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828040; longitude = -121.856726; captureRadius = 10; duration = 31; initialDepth = 46.012459; finalDepth = 47.296638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5297759752064 # Actual altitude: 49.5297759752064 # Commanded vehicle depth:46.012459355372940 # Seafloor depth:-95.281552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.12; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.81; MB_Bottom_Detect_Filter_Max_Range = 198.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.59; 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 44.584817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828320; longitude = -121.856755; captureRadius = 10; duration = 31; initialDepth = 44.584817; finalDepth = 46.012459; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.2690926446271 # Actual altitude: 49.2690926446271 # Commanded vehicle depth:44.584817071199339 # Seafloor depth:-93.578131 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.08; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.71; MB_Bottom_Detect_Filter_Max_Range = 197.08; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 147.81; 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 42.886694 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828600; longitude = -121.856784; captureRadius = 10; duration = 31; initialDepth = 42.886694; finalDepth = 44.584817; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4775882832551 # Actual altitude: 49.4775882832551 # Commanded vehicle depth:42.886693716744887 # Seafloor depth:-92.364282 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.79; MB_Bottom_Detect_Filter_Max_Range = 197.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.43; 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 41.467407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828880; longitude = -121.856813; captureRadius = 10; duration = 31; initialDepth = 41.467407; finalDepth = 42.886694; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.4775882832551 # Actual altitude: 49.4775882832551 # Commanded vehicle depth:41.467406840719121 # Seafloor depth:-90.496919 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.91; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.79; MB_Bottom_Detect_Filter_Max_Range = 197.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.43; 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 39.328010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829160; longitude = -121.856842; captureRadius = 10; duration = 31; initialDepth = 39.328010; finalDepth = 41.467407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5515262079091 # Actual altitude: 49.5515262079091 # Commanded vehicle depth:39.328009792090896 # Seafloor depth:-88.879536 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 198.21; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.82; MB_Bottom_Detect_Filter_Max_Range = 198.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.65; 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 37.126645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829440; longitude = -121.856872; captureRadius = 10; duration = 31; initialDepth = 37.126645; finalDepth = 39.328010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4688670969544 # Actual altitude: 50.4688670969544 # Commanded vehicle depth:37.126644903045630 # Seafloor depth:-87.595512 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.41; 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 36.799180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829720; longitude = -121.856901; captureRadius = 10; duration = 31; initialDepth = 36.799180; finalDepth = 37.126645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.4688670969544 # Actual altitude: 50.4688670969544 # Commanded vehicle depth:36.799180351091991 # Seafloor depth:-86.002526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 201.88; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.19; MB_Bottom_Detect_Filter_Max_Range = 201.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.41; 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 35.067273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830001; longitude = -121.856930; captureRadius = 10; duration = 31; initialDepth = 35.067273; finalDepth = 36.799180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3353242472931 # Actual altitude: 49.3353242472931 # Commanded vehicle depth:35.067272752706941 # Seafloor depth:-84.402597 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.34; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.73; MB_Bottom_Detect_Filter_Max_Range = 197.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.01; 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 33.584207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830281; longitude = -121.856959; captureRadius = 10; duration = 29; initialDepth = 33.584207; finalDepth = 35.067273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3952872720295 # Actual altitude: 49.3952872720295 # Commanded vehicle depth:33.584206727970511 # Seafloor depth:-82.979494 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 197.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.76; MB_Bottom_Detect_Filter_Max_Range = 197.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.19; 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: 49.3952872720295 # Actual altitude: 49.3952872720295 # Commanded vehicle depth:33.056469760824925 # Seafloor depth:-82.014821 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; 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 = 197.58; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 19.76; MB_Bottom_Detect_Filter_Max_Range = 197.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 148.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; 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 33.056470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830542; longitude = -121.856986; captureRadius = 10; duration = 600; initialDepth = 33.056470; finalDepth = 33.584207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 135.0; 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 = 135.0; 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 = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_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 = 1; Window_Size = 200; } # ####################################################### #######################################################