# 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_test3.rte # Mission File: 20080123_test3.cfg # Distance: 2497.405741 (m) # Estimated Time: 3311 (s) 0.920 (hr) # Abort Time: 4305 (s) # Max battery life: 36000 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 3 # Route Points: 94 # 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: 25 (m) # Minimum Vehicle Altitude: 20 (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 -121.856594 36.832839 -71.203532 0.000000 1 # 1 -121.852167 36.835808 -53.380646 514.185299 1 # 2 -121.843200 36.819450 -63.270564 2497.405741 1 # # A total of 94 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 4305; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 150.000000; abortDepth = 175.000000; minAltitude = 20.000000; abortAltitude = 10.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 22.639887 meters # Minimum depth: 63.180080 meters looking forward 200.000000 meters along route # Maximum depth: 63.307901 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.180080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819450; longitude = -121.843200; captureRadius = 10; duration = 22; # abortOnTimeout = True; initialDepth = 38.180080; finalDepth = 38.180080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.090484 # Actual altitude: 25.090484 # Commanded vehicle depth:38.18008 # Seafloor depth:-63.270564 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.36; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 100.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167854 meters # Minimum depth: 63.156754 meters looking forward 200.000000 meters along route # Maximum depth: 63.312916 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.156754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819637; longitude = -121.843303; captureRadius = 10; duration = 27; initialDepth = 38.156754; finalDepth = 38.180080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.108353 # Actual altitude: 25.108353 # Commanded vehicle depth:38.156754 # Seafloor depth:-63.265107 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 100.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167840 meters # Minimum depth: 63.156754 meters looking forward 200.000000 meters along route # Maximum depth: 63.326620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.156754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819861; longitude = -121.843426; captureRadius = 10; duration = 27; initialDepth = 38.156754; finalDepth = 38.156754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.108353 # Actual altitude: 25.108353 # Commanded vehicle depth:38.156754 # Seafloor depth:-63.195281 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.04; MB_Bottom_Detect_Filter_Max_Range = 100.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.33; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167828 meters # Minimum depth: 63.145207 meters looking forward 200.000000 meters along route # Maximum depth: 63.326620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.145207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820085; longitude = -121.843549; captureRadius = 10; duration = 27; initialDepth = 38.145207; finalDepth = 38.156754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.047475 # Actual altitude: 25.047475 # Commanded vehicle depth:38.145207 # Seafloor depth:-63.192682 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.19; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.02; MB_Bottom_Detect_Filter_Max_Range = 100.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.073408 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.326620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820309; longitude = -121.843671; captureRadius = 10; duration = 28; initialDepth = 38.065102; finalDepth = 38.145207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.047475 # Actual altitude: 25.047475 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.079096 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.19; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.02; MB_Bottom_Detect_Filter_Max_Range = 100.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.262209 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.326620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820540; longitude = -121.843798; captureRadius = 10; duration = 26; initialDepth = 38.065102; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.015348 # Actual altitude: 25.015348 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.080450 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.06; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.01; MB_Bottom_Detect_Filter_Max_Range = 100.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167789 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.326620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820757; longitude = -121.843917; captureRadius = 10; duration = 27; initialDepth = 38.065102; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.168218 # Actual altitude: 25.168218 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.233320 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.67; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 100.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167777 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.326620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820981; longitude = -121.844040; captureRadius = 10; duration = 27; initialDepth = 38.065102; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.168218 # Actual altitude: 25.168218 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.134692 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.67; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 100.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167764 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.326620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821205; longitude = -121.844163; captureRadius = 10; duration = 27; initialDepth = 38.065102; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.145705 # Actual altitude: 25.145705 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.210807 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.58; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.06; MB_Bottom_Detect_Filter_Max_Range = 100.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.582737 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.612392 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821429; longitude = -121.844285; captureRadius = 10; duration = 28; initialDepth = 38.065102; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.203914 # Actual altitude: 25.203914 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.269016 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.82; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.08; MB_Bottom_Detect_Filter_Max_Range = 100.82; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.752752 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.886046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821665; longitude = -121.844415; captureRadius = 10; duration = 25; initialDepth = 38.065102; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.574257 # Actual altitude: 25.574257 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.639359 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.30; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167725 meters # Minimum depth: 63.065102 meters looking forward 200.000000 meters along route # Maximum depth: 63.888034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.065102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821877; longitude = -121.844531; captureRadius = 10; duration = 27; initialDepth = 38.065102; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.822932 # Actual altitude: 25.822932 # Commanded vehicle depth:38.065102 # Seafloor depth:-63.888034 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 103.29; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.33; MB_Bottom_Detect_Filter_Max_Range = 103.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167713 meters # Minimum depth: 63.134692 meters looking forward 200.000000 meters along route # Maximum depth: 63.888034 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.134692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822102; longitude = -121.844654; captureRadius = 10; duration = 27; initialDepth = 38.134692; finalDepth = 38.065102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.822932 # Actual altitude: 25.822932 # Commanded vehicle depth:38.134692 # Seafloor depth:-63.794982 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 103.29; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.33; MB_Bottom_Detect_Filter_Max_Range = 103.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167699 meters # Minimum depth: 63.134692 meters looking forward 200.000000 meters along route # Maximum depth: 64.044621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.134692 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822326; longitude = -121.844777; captureRadius = 10; duration = 27; initialDepth = 38.134692; finalDepth = 38.134692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.689898 # Actual altitude: 25.689898 # Commanded vehicle depth:38.134692 # Seafloor depth:-63.824590 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.76; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.28; MB_Bottom_Detect_Filter_Max_Range = 102.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 29.092065 meters # Minimum depth: 63.202041 meters looking forward 200.000000 meters along route # Maximum depth: 64.323635 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.202041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822550; longitude = -121.844900; captureRadius = 10; duration = 29; initialDepth = 38.202041; finalDepth = 38.134692; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.94729 # Actual altitude: 25.94729 # Commanded vehicle depth:38.202041 # Seafloor depth:-64.149331 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 103.79; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.38; MB_Bottom_Detect_Filter_Max_Range = 103.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.243297 meters # Minimum depth: 63.267309 meters looking forward 200.000000 meters along route # Maximum depth: 64.352267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.267309 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822790; longitude = -121.845031; captureRadius = 10; duration = 25; initialDepth = 38.267309; finalDepth = 38.202041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.977025 # Actual altitude: 25.977025 # Commanded vehicle depth:38.267309 # Seafloor depth:-64.244334 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 103.91; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.39; MB_Bottom_Detect_Filter_Max_Range = 103.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167661 meters # Minimum depth: 63.550214 meters looking forward 200.000000 meters along route # Maximum depth: 64.352267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.550214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822998; longitude = -121.845145; captureRadius = 10; duration = 27; initialDepth = 38.550214; finalDepth = 38.267309; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.977025 # Actual altitude: 25.977025 # Commanded vehicle depth:38.550214 # Seafloor depth:-64.290996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 103.91; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.39; MB_Bottom_Detect_Filter_Max_Range = 103.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167649 meters # Minimum depth: 63.731377 meters looking forward 200.000000 meters along route # Maximum depth: 64.352267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.731377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823222; longitude = -121.845268; captureRadius = 10; duration = 27; initialDepth = 38.731377; finalDepth = 38.550214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.740782 # Actual altitude: 25.740782 # Commanded vehicle depth:38.731377 # Seafloor depth:-64.231967 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.96; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.30; MB_Bottom_Detect_Filter_Max_Range = 102.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167635 meters # Minimum depth: 63.731377 meters looking forward 200.000000 meters along route # Maximum depth: 64.352267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.731377 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823446; longitude = -121.845391; captureRadius = 10; duration = 27; initialDepth = 38.731377; finalDepth = 38.731377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.548447 # Actual altitude: 25.548447 # Commanded vehicle depth:38.731377 # Seafloor depth:-64.279824 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.19; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 102.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167623 meters # Minimum depth: 63.806301 meters looking forward 200.000000 meters along route # Maximum depth: 64.352267 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.806301 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823670; longitude = -121.845514; captureRadius = 10; duration = 27; initialDepth = 38.806301; finalDepth = 38.731377; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.548447 # Actual altitude: 25.548447 # Commanded vehicle depth:38.806301 # Seafloor depth:-64.220098 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.19; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 102.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.224210 meters # Minimum depth: 64.022856 meters looking forward 200.000000 meters along route # Maximum depth: 64.482355 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.022856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823894; longitude = -121.845637; captureRadius = 10; duration = 27; initialDepth = 39.022856; finalDepth = 38.806301; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.413797 # Actual altitude: 25.413797 # Commanded vehicle depth:39.022856 # Seafloor depth:-64.223834 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.66; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.110998 meters # Minimum depth: 64.115474 meters looking forward 200.000000 meters along route # Maximum depth: 64.578046 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.115474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824119; longitude = -121.845760; captureRadius = 10; duration = 27; initialDepth = 39.115474; finalDepth = 39.022856; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.366956 # Actual altitude: 25.366956 # Commanded vehicle depth:39.115474 # Seafloor depth:-64.482430 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.47; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 101.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167584 meters # Minimum depth: 64.115474 meters looking forward 200.000000 meters along route # Maximum depth: 64.709504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.115474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824342; longitude = -121.845882; captureRadius = 10; duration = 27; initialDepth = 39.115474; finalDepth = 39.115474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.447524 # Actual altitude: 25.447524 # Commanded vehicle depth:39.115474 # Seafloor depth:-64.562998 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.79; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.18; MB_Bottom_Detect_Filter_Max_Range = 101.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167572 meters # Minimum depth: 64.115474 meters looking forward 200.000000 meters along route # Maximum depth: 64.781040 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.115474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824566; longitude = -121.846005; captureRadius = 10; duration = 27; initialDepth = 39.115474; finalDepth = 39.115474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.575275 # Actual altitude: 25.575275 # Commanded vehicle depth:39.115474 # Seafloor depth:-64.690749 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.30; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167559 meters # Minimum depth: 64.115474 meters looking forward 200.000000 meters along route # Maximum depth: 64.929640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.115474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824791; longitude = -121.846128; captureRadius = 10; duration = 27; initialDepth = 39.115474; finalDepth = 39.115474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.700147 # Actual altitude: 25.700147 # Commanded vehicle depth:39.115474 # Seafloor depth:-64.815621 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.80; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.28; MB_Bottom_Detect_Filter_Max_Range = 102.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.733537 meters # Minimum depth: 64.131787 meters looking forward 200.000000 meters along route # Maximum depth: 64.929640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.131787 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825015; longitude = -121.846251; captureRadius = 10; duration = 27; initialDepth = 39.131787; finalDepth = 39.115474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.700147 # Actual altitude: 25.700147 # Commanded vehicle depth:39.131787 # Seafloor depth:-64.638760 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.80; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.28; MB_Bottom_Detect_Filter_Max_Range = 102.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.601543 meters # Minimum depth: 64.223834 meters looking forward 200.000000 meters along route # Maximum depth: 64.929640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.223834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825243; longitude = -121.846376; captureRadius = 10; duration = 26; initialDepth = 39.223834; finalDepth = 39.131787; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.506973 # Actual altitude: 25.506973 # Commanded vehicle depth:39.223834 # Seafloor depth:-64.492547 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.03; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.20; MB_Bottom_Detect_Filter_Max_Range = 102.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167520 meters # Minimum depth: 64.397803 meters looking forward 200.000000 meters along route # Maximum depth: 64.929640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.397803 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825463; longitude = -121.846496; captureRadius = 10; duration = 27; initialDepth = 39.397803; finalDepth = 39.223834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.268713 # Actual altitude: 25.268713 # Commanded vehicle depth:39.397803 # Seafloor depth:-64.465243 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.07; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 101.07; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167508 meters # Minimum depth: 64.292876 meters looking forward 200.000000 meters along route # Maximum depth: 64.929640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.292876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825687; longitude = -121.846619; captureRadius = 10; duration = 27; initialDepth = 39.292876; finalDepth = 39.397803; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.271336 # Actual altitude: 25.271336 # Commanded vehicle depth:39.292876 # Seafloor depth:-64.564212 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.09; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 101.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.81; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167495 meters # Minimum depth: 64.292518 meters looking forward 200.000000 meters along route # Maximum depth: 64.929640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.292518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825911; longitude = -121.846742; captureRadius = 10; duration = 27; initialDepth = 39.292518; finalDepth = 39.292876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.284997 # Actual altitude: 25.284997 # Commanded vehicle depth:39.292518 # Seafloor depth:-64.577515 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.14; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 101.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.242862 meters # Minimum depth: 64.292518 meters looking forward 200.000000 meters along route # Maximum depth: 64.929640 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.292518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826135; longitude = -121.846865; captureRadius = 10; duration = 28; initialDepth = 39.292518; finalDepth = 39.292518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.42445 # Actual altitude: 25.42445 # Commanded vehicle depth:39.292518 # Seafloor depth:-64.716968 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.70; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.092090 meters # Minimum depth: 64.292518 meters looking forward 200.000000 meters along route # Maximum depth: 64.785250 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.292518 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826368; longitude = -121.846993; captureRadius = 10; duration = 26; initialDepth = 39.292518; finalDepth = 39.292518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.42445 # Actual altitude: 25.42445 # Commanded vehicle depth:39.292518 # Seafloor depth:-64.531057 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.70; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167457 meters # Minimum depth: 64.072339 meters looking forward 200.000000 meters along route # Maximum depth: 64.749767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.072339 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826583; longitude = -121.847110; captureRadius = 10; duration = 27; initialDepth = 39.072339; finalDepth = 39.292518; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.264437 # Actual altitude: 25.264437 # Commanded vehicle depth:39.072339 # Seafloor depth:-64.336776 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.06; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.11; MB_Bottom_Detect_Filter_Max_Range = 101.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.79; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167443 meters # Minimum depth: 64.012646 meters looking forward 200.000000 meters along route # Maximum depth: 64.749767 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.012646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826807; longitude = -121.847233; captureRadius = 10; duration = 27; initialDepth = 39.012646; finalDepth = 39.072339; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.434051 # Actual altitude: 25.434051 # Commanded vehicle depth:39.012646 # Seafloor depth:-64.446697 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.74; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167431 meters # Minimum depth: 64.012646 meters looking forward 200.000000 meters along route # Maximum depth: 64.716968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.012646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827031; longitude = -121.847356; captureRadius = 10; duration = 27; initialDepth = 39.012646; finalDepth = 39.012646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.434051 # Actual altitude: 25.434051 # Commanded vehicle depth:39.012646 # Seafloor depth:-64.281164 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.74; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.74; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.752184 meters # Minimum depth: 63.624964 meters looking forward 200.000000 meters along route # Maximum depth: 64.716968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.624964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827255; longitude = -121.847479; captureRadius = 10; duration = 28; initialDepth = 38.624964; finalDepth = 39.012646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.469849 # Actual altitude: 25.469849 # Commanded vehicle depth:38.624964 # Seafloor depth:-64.094813 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.88; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 101.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.582640 meters # Minimum depth: 63.420889 meters looking forward 200.000000 meters along route # Maximum depth: 64.716968 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.420889 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827493; longitude = -121.847609; captureRadius = 10; duration = 25; initialDepth = 38.420889; finalDepth = 38.624964; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.469849 # Actual altitude: 25.469849 # Commanded vehicle depth:38.420889 # Seafloor depth:-63.695442 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.88; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.19; MB_Bottom_Detect_Filter_Max_Range = 101.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167393 meters # Minimum depth: 63.248773 meters looking forward 200.000000 meters along route # Maximum depth: 64.594557 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.248773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827704; longitude = -121.847725; captureRadius = 10; duration = 27; initialDepth = 38.248773; finalDepth = 38.420889; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.316535 # Actual altitude: 25.316535 # Commanded vehicle depth:38.248773 # Seafloor depth:-63.565308 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.27; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 101.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.95; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167380 meters # Minimum depth: 62.524507 meters looking forward 200.000000 meters along route # Maximum depth: 64.453080 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 37.524507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827928; longitude = -121.847847; captureRadius = 10; duration = 27; initialDepth = 37.524507; finalDepth = 38.248773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.723227 # Actual altitude: 25.723227 # Commanded vehicle depth:37.524507 # Seafloor depth:-63.247734 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.89; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 102.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167367 meters # Minimum depth: 62.524507 meters looking forward 200.000000 meters along route # Maximum depth: 64.446697 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 37.524507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828152; longitude = -121.847970; captureRadius = 10; duration = 27; initialDepth = 37.524507; finalDepth = 37.524507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.723227 # Actual altitude: 25.723227 # Commanded vehicle depth:37.524507 # Seafloor depth:-62.798971 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.89; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.29; MB_Bottom_Detect_Filter_Max_Range = 102.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 29.261504 meters # Minimum depth: 62.524507 meters looking forward 200.000000 meters along route # Maximum depth: 64.412939 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 37.524507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828376; longitude = -121.848093; captureRadius = 10; duration = 29; initialDepth = 37.524507; finalDepth = 37.524507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.335107 # Actual altitude: 25.335107 # Commanded vehicle depth:37.524507 # Seafloor depth:-62.859614 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.34; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 101.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.073191 meters # Minimum depth: 62.064430 meters looking forward 200.000000 meters along route # Maximum depth: 64.122892 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 37.064430 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828617; longitude = -121.848225; captureRadius = 10; duration = 25; initialDepth = 37.064430; finalDepth = 37.524507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.544595 # Actual altitude: 25.544595 # Commanded vehicle depth:37.06443 # Seafloor depth:-62.609025 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.18; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 102.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167329 meters # Minimum depth: 61.920048 meters looking forward 200.000000 meters along route # Maximum depth: 63.717246 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 36.920048 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828824; longitude = -121.848339; captureRadius = 10; duration = 27; initialDepth = 36.920048; finalDepth = 37.064430; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.544595 # Actual altitude: 25.544595 # Commanded vehicle depth:36.920048 # Seafloor depth:-62.263271 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.18; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 102.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.63; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167316 meters # Minimum depth: 61.342652 meters looking forward 200.000000 meters along route # Maximum depth: 63.567225 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 36.342652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829048; longitude = -121.848462; captureRadius = 10; duration = 27; initialDepth = 36.342652; finalDepth = 36.920048; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.568794 # Actual altitude: 25.568794 # Commanded vehicle depth:36.342652 # Seafloor depth:-61.911446 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.28; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167303 meters # Minimum depth: 61.342652 meters looking forward 200.000000 meters along route # Maximum depth: 63.314800 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 36.342652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829272; longitude = -121.848584; captureRadius = 10; duration = 27; initialDepth = 36.342652; finalDepth = 36.342652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.568794 # Actual altitude: 25.568794 # Commanded vehicle depth:36.342652 # Seafloor depth:-61.666793 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.28; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167290 meters # Minimum depth: 60.878942 meters looking forward 200.000000 meters along route # Maximum depth: 63.045743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 35.878942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829496; longitude = -121.848707; captureRadius = 10; duration = 27; initialDepth = 35.878942; finalDepth = 36.342652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.437742 # Actual altitude: 25.437742 # Commanded vehicle depth:35.878942 # Seafloor depth:-61.316684 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.75; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.18; MB_Bottom_Detect_Filter_Max_Range = 101.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.393672 meters # Minimum depth: 60.597923 meters looking forward 200.000000 meters along route # Maximum depth: 63.045743 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 35.597923 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829720; longitude = -121.848830; captureRadius = 10; duration = 27; initialDepth = 35.597923; finalDepth = 35.878942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.437742 # Actual altitude: 25.437742 # Commanded vehicle depth:35.597923 # Seafloor depth:-61.017570 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.75; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.18; MB_Bottom_Detect_Filter_Max_Range = 101.75; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.31; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.940870 meters # Minimum depth: 60.493060 meters looking forward 200.000000 meters along route # Maximum depth: 62.735114 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 35.493060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829946; longitude = -121.848954; captureRadius = 10; duration = 26; initialDepth = 35.493060; finalDepth = 35.597923; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.419647 # Actual altitude: 25.419647 # Commanded vehicle depth:35.49306 # Seafloor depth:-60.593438 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.68; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167252 meters # Minimum depth: 60.493060 meters looking forward 200.000000 meters along route # Maximum depth: 62.263271 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 35.493060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830169; longitude = -121.849076; captureRadius = 10; duration = 27; initialDepth = 35.493060; finalDepth = 35.493060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.399936 # Actual altitude: 25.399936 # Commanded vehicle depth:35.49306 # Seafloor depth:-60.892996 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.60; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.16; MB_Bottom_Detect_Filter_Max_Range = 101.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167239 meters # Minimum depth: 59.869389 meters looking forward 200.000000 meters along route # Maximum depth: 62.027158 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 34.869389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830393; longitude = -121.849199; captureRadius = 10; duration = 27; initialDepth = 34.869389; finalDepth = 35.493060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.570664 # Actual altitude: 25.570664 # Commanded vehicle depth:34.869389 # Seafloor depth:-60.440053 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.28; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167227 meters # Minimum depth: 59.810927 meters looking forward 200.000000 meters along route # Maximum depth: 61.666793 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 34.810927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830617; longitude = -121.849321; captureRadius = 10; duration = 27; initialDepth = 34.810927; finalDepth = 34.869389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.570664 # Actual altitude: 25.570664 # Commanded vehicle depth:34.810927 # Seafloor depth:-60.102988 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.28; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.23; MB_Bottom_Detect_Filter_Max_Range = 102.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.71; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.902992 meters # Minimum depth: 58.131903 meters looking forward 200.000000 meters along route # Maximum depth: 61.597336 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 33.131903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830841; longitude = -121.849444; captureRadius = 10; duration = 27; initialDepth = 33.131903; finalDepth = 34.810927; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.923045 # Actual altitude: 25.923045 # Commanded vehicle depth:33.131903 # Seafloor depth:-59.054948 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 103.69; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.37; MB_Bottom_Detect_Filter_Max_Range = 103.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 26.431422 meters # Minimum depth: 58.008266 meters looking forward 200.000000 meters along route # Maximum depth: 61.126089 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 33.008266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831071; longitude = -121.849570; captureRadius = 10; duration = 26; initialDepth = 33.008266; finalDepth = 33.131903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.923045 # Actual altitude: 25.923045 # Commanded vehicle depth:33.008266 # Seafloor depth:-58.157505 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 103.69; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.37; MB_Bottom_Detect_Filter_Max_Range = 103.69; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 77.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167188 meters # Minimum depth: 58.008266 meters looking forward 200.000000 meters along route # Maximum depth: 61.109415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 33.008266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831289; longitude = -121.849690; captureRadius = 10; duration = 27; initialDepth = 33.008266; finalDepth = 33.008266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.149239 # Actual altitude: 25.149239 # Commanded vehicle depth:33.008266 # Seafloor depth:-58.050248 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.60; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.06; MB_Bottom_Detect_Filter_Max_Range = 100.60; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167175 meters # Minimum depth: 58.008266 meters looking forward 200.000000 meters along route # Maximum depth: 61.109415 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 33.008266 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831513; longitude = -121.849813; captureRadius = 10; duration = 27; initialDepth = 33.008266; finalDepth = 33.008266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.041982 # Actual altitude: 25.041982 # Commanded vehicle depth:33.008266 # Seafloor depth:-58.025552 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.17; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.02; MB_Bottom_Detect_Filter_Max_Range = 100.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.13; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167162 meters # Minimum depth: 57.747395 meters looking forward 200.000000 meters along route # Maximum depth: 60.804437 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 32.747395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831737; longitude = -121.849936; captureRadius = 10; duration = 27; initialDepth = 32.747395; finalDepth = 33.008266; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.163648 # Actual altitude: 25.163648 # Commanded vehicle depth:32.747395 # Seafloor depth:-57.911043 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.65; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 100.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.412310 meters # Minimum depth: 57.660499 meters looking forward 200.000000 meters along route # Maximum depth: 60.458569 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 32.660499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831961; longitude = -121.850058; captureRadius = 10; duration = 28; initialDepth = 32.660499; finalDepth = 32.747395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.369028 # Actual altitude: 25.369028 # Commanded vehicle depth:32.660499 # Seafloor depth:-58.029527 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.48; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 101.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.921976 meters # Minimum depth: 57.458912 meters looking forward 200.000000 meters along route # Maximum depth: 60.037966 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 32.458912 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832196; longitude = -121.850187; captureRadius = 10; duration = 25; initialDepth = 32.458912; finalDepth = 32.660499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.369028 # Actual altitude: 25.369028 # Commanded vehicle depth:32.458912 # Seafloor depth:-57.725972 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.48; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 101.48; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167124 meters # Minimum depth: 57.122805 meters looking forward 200.000000 meters along route # Maximum depth: 58.942486 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 32.122805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832409; longitude = -121.850304; captureRadius = 10; duration = 27; initialDepth = 32.122805; finalDepth = 32.458912; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.288397 # Actual altitude: 25.288397 # Commanded vehicle depth:32.122805 # Seafloor depth:-57.411202 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.15; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 101.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167111 meters # Minimum depth: 57.024718 meters looking forward 200.000000 meters along route # Maximum depth: 58.527445 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 32.024718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832634; longitude = -121.850427; captureRadius = 10; duration = 27; initialDepth = 32.024718; finalDepth = 32.122805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.288397 # Actual altitude: 25.288397 # Commanded vehicle depth:32.024718 # Seafloor depth:-57.188831 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.15; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.12; MB_Bottom_Detect_Filter_Max_Range = 101.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167099 meters # Minimum depth: 56.637514 meters looking forward 200.000000 meters along route # Maximum depth: 58.385934 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 31.637514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832858; longitude = -121.850550; captureRadius = 10; duration = 27; initialDepth = 31.637514; finalDepth = 32.024718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.257109 # Actual altitude: 25.257109 # Commanded vehicle depth:31.637514 # Seafloor depth:-56.894623 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.03; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.10; MB_Bottom_Detect_Filter_Max_Range = 101.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.77; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.921626 meters # Minimum depth: 56.462741 meters looking forward 200.000000 meters along route # Maximum depth: 58.190599 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 31.462741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833082; longitude = -121.850672; captureRadius = 10; duration = 28; initialDepth = 31.462741; finalDepth = 31.637514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.428555 # Actual altitude: 25.428555 # Commanded vehicle depth:31.462741 # Seafloor depth:-56.891296 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.71; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 25.412532 meters # Minimum depth: 56.305106 meters looking forward 200.000000 meters along route # Maximum depth: 58.052534 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 31.305106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833320; longitude = -121.850803; captureRadius = 10; duration = 25; initialDepth = 31.305106; finalDepth = 31.462741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.428555 # Actual altitude: 25.428555 # Commanded vehicle depth:31.305106 # Seafloor depth:-56.667066 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.71; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167060 meters # Minimum depth: 56.251649 meters looking forward 200.000000 meters along route # Maximum depth: 57.757536 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 31.251649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833530; longitude = -121.850918; captureRadius = 10; duration = 27; initialDepth = 31.251649; finalDepth = 31.305106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.36196 # Actual altitude: 25.36196 # Commanded vehicle depth:31.251649 # Seafloor depth:-56.308532 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.45; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 101.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.09; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167047 meters # Minimum depth: 55.975790 meters looking forward 200.000000 meters along route # Maximum depth: 57.745130 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.975790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833754; longitude = -121.851041; captureRadius = 10; duration = 27; initialDepth = 30.975790; finalDepth = 31.251649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.181569 # Actual altitude: 25.181569 # Commanded vehicle depth:30.97579 # Seafloor depth:-56.157359 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 100.73; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.07; MB_Bottom_Detect_Filter_Max_Range = 100.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.54; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167034 meters # Minimum depth: 55.567321 meters looking forward 200.000000 meters along route # Maximum depth: 57.355243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.567321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833978; longitude = -121.851164; captureRadius = 10; duration = 27; initialDepth = 30.567321; finalDepth = 30.975790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.557876 # Actual altitude: 25.557876 # Commanded vehicle depth:30.567321 # Seafloor depth:-56.125197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.23; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 102.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167022 meters # Minimum depth: 55.472578 meters looking forward 200.000000 meters along route # Maximum depth: 57.355243 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.472578 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834202; longitude = -121.851287; captureRadius = 10; duration = 27; initialDepth = 30.472578; finalDepth = 30.567321; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.557876 # Actual altitude: 25.557876 # Commanded vehicle depth:30.472578 # Seafloor depth:-55.764769 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 102.23; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.22; MB_Bottom_Detect_Filter_Max_Range = 102.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.167009 meters # Minimum depth: 55.188583 meters looking forward 200.000000 meters along route # Maximum depth: 57.122642 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.188583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834426; longitude = -121.851409; captureRadius = 10; duration = 27; initialDepth = 30.188583; finalDepth = 30.472578; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.365986 # Actual altitude: 25.365986 # Commanded vehicle depth:30.188583 # Seafloor depth:-55.554569 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.46; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 101.46; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.166996 meters # Minimum depth: 55.003906 meters looking forward 200.000000 meters along route # Maximum depth: 56.715142 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.003906 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834650; longitude = -121.851532; captureRadius = 10; duration = 27; initialDepth = 30.003906; finalDepth = 30.188583; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.432443 # Actual altitude: 25.432443 # Commanded vehicle depth:30.003906 # Seafloor depth:-55.436349 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.73; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.166983 meters # Minimum depth: 54.620224 meters looking forward 200.000000 meters along route # Maximum depth: 56.593929 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 29.620224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834874; longitude = -121.851655; captureRadius = 10; duration = 27; initialDepth = 29.620224; finalDepth = 30.003906; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.432443 # Actual altitude: 25.432443 # Commanded vehicle depth:29.620224 # Seafloor depth:-54.977577 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.73; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.17; MB_Bottom_Detect_Filter_Max_Range = 101.73; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 27.166970 meters # Minimum depth: 54.259263 meters looking forward 200.000000 meters along route # Maximum depth: 56.367377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 29.259263 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835098; longitude = -121.851778; captureRadius = 10; duration = 27; initialDepth = 29.259263; finalDepth = 29.620224; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.357353 # Actual altitude: 25.357353 # Commanded vehicle depth:29.259263 # Seafloor depth:-54.601161 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.43; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 101.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.07; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 29.940251 meters # Minimum depth: 53.858429 meters looking forward 200.000000 meters along route # Maximum depth: 56.343461 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.858429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835323; longitude = -121.851901; captureRadius = 10; duration = 29; initialDepth = 28.858429; finalDepth = 29.259263; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.341898 # Actual altitude: 25.341898 # Commanded vehicle depth:28.858429 # Seafloor depth:-54.066031 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.37; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.14; MB_Bottom_Detect_Filter_Max_Range = 101.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 28.921475 meters # Minimum depth: 53.462103 meters looking forward 200.000000 meters along route # Maximum depth: 55.853620 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.462103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835569; longitude = -121.852036; captureRadius = 10; duration = 28; initialDepth = 28.462103; finalDepth = 28.858429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.33103 # Actual altitude: 25.33103 # Commanded vehicle depth:28.462103 # Seafloor depth:-53.793133 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.32; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 101.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 17.356284 meters # Minimum depth: 53.380646 meters looking forward 200.000000 meters along route # Maximum depth: 55.817377 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.380646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835808; longitude = -121.852167; captureRadius = 10; duration = 17; # abortOnTimeout = True; initialDepth = 28.380646; finalDepth = 28.462103; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.33103 # Actual altitude: 25.33103 # Commanded vehicle depth:28.380646 # Seafloor depth:-53.380646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.32; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.13; MB_Bottom_Detect_Filter_Max_Range = 101.32; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034451 meters # Minimum depth: 53.380646 meters looking forward 200.000000 meters along route # Maximum depth: 55.436349 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.380646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835708; longitude = -121.852316; captureRadius = 10; duration = 26; initialDepth = 28.380646; finalDepth = 28.380646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 25.367276 # Actual altitude: 25.367276 # Commanded vehicle depth:28.380646 # Seafloor depth:-53.747922 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 101.47; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.15; MB_Bottom_Detect_Filter_Max_Range = 101.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 76.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034479 meters # Minimum depth: 53.380646 meters looking forward 200.000000 meters along route # Maximum depth: 55.230327 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.380646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835557; longitude = -121.852540; captureRadius = 10; duration = 26; initialDepth = 28.380646; finalDepth = 28.380646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 26.33882 # Actual altitude: 26.33882 # Commanded vehicle depth:28.380646 # Seafloor depth:-54.719466 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 105.36; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.54; MB_Bottom_Detect_Filter_Max_Range = 105.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 79.02; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034508 meters # Minimum depth: 53.380646 meters looking forward 200.000000 meters along route # Maximum depth: 56.444044 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.380646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835407; longitude = -121.852765; captureRadius = 10; duration = 26; initialDepth = 28.380646; finalDepth = 28.380646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 27.053933 # Actual altitude: 27.053933 # Commanded vehicle depth:28.380646 # Seafloor depth:-55.434579 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 108.22; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.82; MB_Bottom_Detect_Filter_Max_Range = 108.22; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 81.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034536 meters # Minimum depth: 53.380646 meters looking forward 200.000000 meters along route # Maximum depth: 56.725746 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.380646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835257; longitude = -121.852989; captureRadius = 10; duration = 26; initialDepth = 28.380646; finalDepth = 28.380646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 28.161894 # Actual altitude: 28.161894 # Commanded vehicle depth:28.380646 # Seafloor depth:-56.542540 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 112.65; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.26; MB_Bottom_Detect_Filter_Max_Range = 112.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 84.49; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034565 meters # Minimum depth: 53.380646 meters looking forward 200.000000 meters along route # Maximum depth: 58.168932 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.380646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835106; longitude = -121.853213; captureRadius = 10; duration = 26; initialDepth = 28.380646; finalDepth = 28.380646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 28.926861 # Actual altitude: 28.926861 # Commanded vehicle depth:28.380646 # Seafloor depth:-57.307507 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 115.71; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 11.57; MB_Bottom_Detect_Filter_Max_Range = 115.71; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 86.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034593 meters # Minimum depth: 53.380646 meters looking forward 200.000000 meters along route # Maximum depth: 59.516149 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.380646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834956; longitude = -121.853437; captureRadius = 10; duration = 26; initialDepth = 28.380646; finalDepth = 28.380646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 30.015585 # Actual altitude: 30.015585 # Commanded vehicle depth:28.380646 # Seafloor depth:-58.396231 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 120.06; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.01; MB_Bottom_Detect_Filter_Max_Range = 120.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 90.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.935191 meters # Minimum depth: 53.551060 meters looking forward 200.000000 meters along route # Maximum depth: 60.385922 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 28.551060 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834806; longitude = -121.853661; captureRadius = 10; duration = 26; initialDepth = 28.551060; finalDepth = 28.380646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.139159 # Actual altitude: 31.139159 # Commanded vehicle depth:28.55106 # Seafloor depth:-59.690219 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 124.56; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.46; MB_Bottom_Detect_Filter_Max_Range = 124.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.134081 meters # Minimum depth: 54.101773 meters looking forward 200.000000 meters along route # Maximum depth: 61.014315 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 29.101773 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834650; longitude = -121.853893; captureRadius = 10; duration = 25; initialDepth = 29.101773; finalDepth = 28.551060; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.349873 # Actual altitude: 31.349873 # Commanded vehicle depth:29.101773 # Seafloor depth:-60.451646 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 125.40; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.54; MB_Bottom_Detect_Filter_Max_Range = 125.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.05; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034678 meters # Minimum depth: 54.744530 meters looking forward 200.000000 meters along route # Maximum depth: 61.911504 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 29.744530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834505; longitude = -121.854110; captureRadius = 10; duration = 26; initialDepth = 29.744530; finalDepth = 29.101773; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.563667 # Actual altitude: 31.563667 # Commanded vehicle depth:29.74453 # Seafloor depth:-61.308197 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 126.25; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.63; MB_Bottom_Detect_Filter_Max_Range = 126.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.444058 meters # Minimum depth: 55.841864 meters looking forward 200.000000 meters along route # Maximum depth: 63.316621 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 30.841864 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834355; longitude = -121.854334; captureRadius = 10; duration = 26; initialDepth = 30.841864; finalDepth = 29.744530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.563667 # Actual altitude: 31.563667 # Commanded vehicle depth:30.841864 # Seafloor depth:-62.060659 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 126.25; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.63; MB_Bottom_Detect_Filter_Max_Range = 126.25; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 25.625385 meters # Minimum depth: 56.675288 meters looking forward 200.000000 meters along route # Maximum depth: 63.747846 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 31.675288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834202; longitude = -121.854561; captureRadius = 10; duration = 25; initialDepth = 31.675288; finalDepth = 30.841864; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.662204 # Actual altitude: 31.662204 # Commanded vehicle depth:31.675288 # Seafloor depth:-63.337492 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 126.65; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.66; MB_Bottom_Detect_Filter_Max_Range = 126.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034764 meters # Minimum depth: 57.709118 meters looking forward 200.000000 meters along route # Maximum depth: 64.587373 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 32.709118 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834054; longitude = -121.854782; captureRadius = 10; duration = 26; initialDepth = 32.709118; finalDepth = 31.675288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.662204 # Actual altitude: 31.662204 # Commanded vehicle depth:32.709118 # Seafloor depth:-63.906376 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 126.65; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.66; MB_Bottom_Detect_Filter_Max_Range = 126.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 94.99; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034792 meters # Minimum depth: 59.356468 meters looking forward 200.000000 meters along route # Maximum depth: 65.698850 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 34.356468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833904; longitude = -121.855006; captureRadius = 10; duration = 26; initialDepth = 34.356468; finalDepth = 32.709118; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.197258 # Actual altitude: 31.197258 # Commanded vehicle depth:34.356468 # Seafloor depth:-64.706145 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 124.79; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.48; MB_Bottom_Detect_Filter_Max_Range = 124.79; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034821 meters # Minimum depth: 59.848214 meters looking forward 200.000000 meters along route # Maximum depth: 66.609265 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 34.848214 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833753; longitude = -121.855230; captureRadius = 10; duration = 26; initialDepth = 34.848214; finalDepth = 34.356468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 30.853262 # Actual altitude: 30.853262 # Commanded vehicle depth:34.848214 # Seafloor depth:-65.701476 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 123.41; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.34; MB_Bottom_Detect_Filter_Max_Range = 123.41; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 92.56; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034849 meters # Minimum depth: 60.726471 meters looking forward 200.000000 meters along route # Maximum depth: 67.691375 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 35.726471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833603; longitude = -121.855455; captureRadius = 10; duration = 26; initialDepth = 35.726471; finalDepth = 34.848214; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.066378 # Actual altitude: 31.066378 # Commanded vehicle depth:35.726471 # Seafloor depth:-66.792849 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 124.27; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.43; MB_Bottom_Detect_Filter_Max_Range = 124.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034878 meters # Minimum depth: 61.517123 meters looking forward 200.000000 meters along route # Maximum depth: 68.729468 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 36.517123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833453; longitude = -121.855679; captureRadius = 10; duration = 26; initialDepth = 36.517123; finalDepth = 35.726471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.258403 # Actual altitude: 31.258403 # Commanded vehicle depth:36.517123 # Seafloor depth:-67.775526 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 125.03; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 125.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034906 meters # Minimum depth: 62.655143 meters looking forward 200.000000 meters along route # Maximum depth: 69.557681 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 37.655143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833302; longitude = -121.855903; captureRadius = 10; duration = 26; initialDepth = 37.655143; finalDepth = 36.517123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.258403 # Actual altitude: 31.258403 # Commanded vehicle depth:37.655143 # Seafloor depth:-68.730235 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 125.03; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.50; MB_Bottom_Detect_Filter_Max_Range = 125.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 26.034935 meters # Minimum depth: 63.645994 meters looking forward 200.000000 meters along route # Maximum depth: 69.719420 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 38.645994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833152; longitude = -121.856127; captureRadius = 10; duration = 26; initialDepth = 38.645994; finalDepth = 37.655143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 31.075092 # Actual altitude: 31.075092 # Commanded vehicle depth:38.645994 # Seafloor depth:-69.279072 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 124.30; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.43; MB_Bottom_Detect_Filter_Max_Range = 124.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 93.23; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 28.204545 meters # Minimum depth: 64.355478 meters looking forward 200.000000 meters along route # Maximum depth: 71.260054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.355478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833002; longitude = -121.856351; captureRadius = 10; duration = 28; initialDepth = 39.355478; finalDepth = 38.645994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 30.633078 # Actual altitude: 30.633078 # Commanded vehicle depth:39.355478 # Seafloor depth:-69.906602 # behavior reson { duration = 6; LoSS_Range = 337.50; MB_Range = 122.53; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.25; MB_Bottom_Detect_Filter_Max_Range = 122.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 91.90; 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: 31.848054 # Actual altitude: 31.848054 # Commanded vehicle depth:39.355478 # Seafloor depth:-71.203532 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 1; HiSS_Power = 100.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 127.39; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 12.74; MB_Bottom_Detect_Filter_Max_Range = 127.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 95.54; 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 125.546408 meters # Minimum depth: 64.355478 meters looking forward 200.000000 meters along route # Maximum depth: 71.260054 meters looking forward 200.000000 meters along route # Maximum vehicle depth: 150.000000 meters # Desired vehicle altitude: 25.000000 meters # Minimum vehicle altitude: 20.000000 meters # Behavior depth of 39.355478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832839; longitude = -121.856594; captureRadius = 10; duration = 125; initialDepth = 39.355478; finalDepth = 39.355478; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 49.473796; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 20.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 49.473796; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 30; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; 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 = 100.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 10.00; MB_Bottom_Detect_Filter_Max_Range = 100.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 75.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################