# 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: 20080721_test1.rte # Mission File: 20080721_test1.cfg # Distance: 8358.854719 (m) # Estimated Time: 7353 (s) 2.043 (hr) # Abort Time: 9559 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 11 # Route Points: 167 # 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: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 160.468367 (m) # Abort Vehicle Depth: 185.468367 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 100 (m) # Waypoint Spacing: 50 (m) # GPS Duration: 600 (s) # Descend Rate: 0.417 (m/s) # Ascend Rate: 1 (m/s) # Initial descend Duration: 300 (s) # Setpoint Duration: 30 (s) # # The primary waypoints from the route file are: # # 0 -121.856986 36.830542 -82.009872 0.000000 1 # 1 -121.856220 36.823185 -132.450394 819.070863 1 # 2 -121.853176 36.815024 -162.182648 1764.321415 1 # 3 -121.852223 36.810206 -184.700836 2305.568010 1 # 4 -121.865523 36.810692 -77.672239 3493.256726 1 # 5 -121.863057 36.814109 -83.399378 3931.553892 1 # 6 -121.843275 36.818255 -65.476152 5755.099596 1 # 7 -121.853643 36.816518 -155.239624 6699.789712 1 # 8 -121.856146 36.823315 -131.522022 7486.232763 1 # 9 -121.856930 36.829478 -87.382253 8173.513142 1 # 10 -121.859004 36.829590 -94.702525 8358.854719 1 # # A total of 167 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 9559; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 160.468367; abortDepth = 185.468367; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # 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 10 # Segment length 54.046829 meters # Minimum depth: 92.668066 meters looking forward 100.000000 meters along route # Maximum depth: 94.756269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.668066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829590; longitude = -121.859004; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 49.619792; finalDepth = 52.668066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.034459 # Actual altitude: 50 # Commanded vehicle depth:52.668066 # Seafloor depth:-94.702525 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.046829 meters # Minimum depth: 89.619792 meters looking forward 100.000000 meters along route # Maximum depth: 94.756269 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.619792 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829571; longitude = -121.858649; captureRadius = 10; duration = 54; initialDepth = 48.627798; finalDepth = 49.619792; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.034459 # Actual altitude: 50 # Commanded vehicle depth:49.619792 # Seafloor depth:-91.599449 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.046829 meters # Minimum depth: 88.627798 meters looking forward 100.000000 meters along route # Maximum depth: 91.530405 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 48.627798 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829540; longitude = -121.858088; captureRadius = 10; duration = 54; initialDepth = 47.126623; finalDepth = 48.627798; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.979657 # Actual altitude: 50 # Commanded vehicle depth:48.627798 # Seafloor depth:-90.131000 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.046829 meters # Minimum depth: 87.126623 meters looking forward 100.000000 meters along route # Maximum depth: 89.827737 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.126623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829510; longitude = -121.857528; captureRadius = 10; duration = 54; initialDepth = 47.126623; finalDepth = 47.126623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.503202 # Actual altitude: 50 # Commanded vehicle depth:47.126623 # Seafloor depth:-88.308259 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 54.046829 meters # Minimum depth: 87.126623 meters looking forward 100.000000 meters along route # Maximum depth: 89.348905 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.126623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829478; longitude = -121.856930; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 47.126623; finalDepth = 47.126623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.181636 # Actual altitude: 50 # Commanded vehicle depth:47.126623 # Seafloor depth:-87.382253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 83; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 87.126623 meters looking forward 100.000000 meters along route # Maximum depth: 91.424423 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.126623 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829272; longitude = -121.856904; captureRadius = 10; duration = 54; initialDepth = 49.012757; finalDepth = 47.126623; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.495347 # Actual altitude: 50 # Commanded vehicle depth:47.126623 # Seafloor depth:-88.621970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 82; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 89.012757 meters looking forward 100.000000 meters along route # Maximum depth: 93.798684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.012757 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828768; longitude = -121.856840; captureRadius = 10; duration = 54; initialDepth = 52.310947; finalDepth = 49.012757; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.659063 # Actual altitude: 50 # Commanded vehicle depth:49.012757 # Seafloor depth:-91.671820 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 81; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 92.310947 meters looking forward 100.000000 meters along route # Maximum depth: 96.898719 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.310947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828264; longitude = -121.856776; captureRadius = 10; duration = 54; initialDepth = 54.788254; finalDepth = 52.310947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.659063 # Actual altitude: 50 # Commanded vehicle depth:52.310947 # Seafloor depth:-94.068338 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 94.788254 meters looking forward 100.000000 meters along route # Maximum depth: 99.886604 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.788254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827760; longitude = -121.856712; captureRadius = 10; duration = 54; initialDepth = 57.998256; finalDepth = 54.788254; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.237185 # Actual altitude: 50 # Commanded vehicle depth:54.788254 # Seafloor depth:-97.025439 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 79; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 97.998256 meters looking forward 100.000000 meters along route # Maximum depth: 104.416759 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.998256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827255; longitude = -121.856647; captureRadius = 10; duration = 54; initialDepth = 61.430297; finalDepth = 57.998256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.252131 # Actual altitude: 50 # Commanded vehicle depth:57.998256 # Seafloor depth:-100.250387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 78; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 101.430297 meters looking forward 100.000000 meters along route # Maximum depth: 109.004831 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.430297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826751; longitude = -121.856583; captureRadius = 10; duration = 54; initialDepth = 65.035062; finalDepth = 61.430297; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.532626 # Actual altitude: 50 # Commanded vehicle depth:61.430297 # Seafloor depth:-104.962923 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 77; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 105.035062 meters looking forward 100.000000 meters along route # Maximum depth: 113.636380 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.035062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826248; longitude = -121.856519; captureRadius = 10; duration = 54; initialDepth = 69.778349; finalDepth = 65.035062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.441993 # Actual altitude: 50 # Commanded vehicle depth:65.035062 # Seafloor depth:-109.477055 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 76; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 109.778349 meters looking forward 100.000000 meters along route # Maximum depth: 117.225875 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.778349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825799; longitude = -121.856462; captureRadius = 10; duration = 54; initialDepth = 74.783707; finalDepth = 69.778349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.441993 # Actual altitude: 50 # Commanded vehicle depth:69.778349 # Seafloor depth:-113.731502 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 114.783707 meters looking forward 100.000000 meters along route # Maximum depth: 120.809904 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 74.783707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825295; longitude = -121.856398; captureRadius = 10; duration = 54; initialDepth = 78.655790; finalDepth = 74.783707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.953153 # Actual altitude: 50 # Commanded vehicle depth:74.783707 # Seafloor depth:-117.411091 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 74; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 118.655790 meters looking forward 100.000000 meters along route # Maximum depth: 126.475731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.655790 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824791; longitude = -121.856334; captureRadius = 10; duration = 54; initialDepth = 82.468328; finalDepth = 78.655790; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.77155 # Actual altitude: 50 # Commanded vehicle depth:78.65579 # Seafloor depth:-121.427340 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 73; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 122.468328 meters looking forward 100.000000 meters along route # Maximum depth: 129.561908 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.468328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824286; longitude = -121.856270; captureRadius = 10; duration = 54; initialDepth = 88.742781; finalDepth = 82.468328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.932301 # Actual altitude: 50 # Commanded vehicle depth:82.468328 # Seafloor depth:-127.400629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 72; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.046829 meters # Minimum depth: 128.742781 meters looking forward 100.000000 meters along route # Maximum depth: 131.367379 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.742781 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823782; longitude = -121.856205; captureRadius = 10; duration = 54; initialDepth = 88.952713; finalDepth = 88.742781; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.932301 # Actual altitude: 50 # Commanded vehicle depth:88.742781 # Seafloor depth:-129.603340 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 71; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 54.046829 meters # Minimum depth: 128.952713 meters looking forward 100.000000 meters along route # Maximum depth: 131.688213 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.952713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823315; longitude = -121.856146; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 89.819566; finalDepth = 88.952713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.569309 # Actual altitude: 50 # Commanded vehicle depth:88.952713 # Seafloor depth:-131.522022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 129.819566 meters looking forward 100.000000 meters along route # Maximum depth: 133.734225 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.819566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823263; longitude = -121.856127; captureRadius = 10; duration = 54; initialDepth = 91.837373; finalDepth = 89.819566; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.569309 # Actual altitude: 50 # Commanded vehicle depth:89.819566 # Seafloor depth:-131.733833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 69; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 131.837373 meters looking forward 100.000000 meters along route # Maximum depth: 135.615020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.837373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822830; longitude = -121.855967; captureRadius = 10; duration = 54; initialDepth = 94.338573; finalDepth = 91.837373; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.452916 # Actual altitude: 50 # Commanded vehicle depth:91.837373 # Seafloor depth:-134.290289 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 68; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 134.338573 meters looking forward 100.000000 meters along route # Maximum depth: 136.544930 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.338573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822382; longitude = -121.855802; captureRadius = 10; duration = 54; initialDepth = 95.567814; finalDepth = 94.338573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.452916 # Actual altitude: 50 # Commanded vehicle depth:94.338573 # Seafloor depth:-135.852146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 67; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 135.567814 meters looking forward 100.000000 meters along route # Maximum depth: 138.703061 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.567814 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821934; longitude = -121.855637; captureRadius = 10; duration = 54; initialDepth = 96.763090; finalDepth = 95.567814; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.513573 # Actual altitude: 50 # Commanded vehicle depth:95.567814 # Seafloor depth:-136.854656 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 66; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 136.763090 meters looking forward 100.000000 meters along route # Maximum depth: 140.868789 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.763090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821485; longitude = -121.855472; captureRadius = 10; duration = 54; initialDepth = 100.204255; finalDepth = 96.763090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.232076 # Actual altitude: 50 # Commanded vehicle depth:96.76309 # Seafloor depth:-138.995166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 140.204255 meters looking forward 100.000000 meters along route # Maximum depth: 140.972629 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.204255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821037; longitude = -121.855307; captureRadius = 10; duration = 54; initialDepth = 100.441429; finalDepth = 100.204255; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.232076 # Actual altitude: 50 # Commanded vehicle depth:100.204255 # Seafloor depth:-140.266822 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 64; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 140.441429 meters looking forward 100.000000 meters along route # Maximum depth: 142.962095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.441429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820589; longitude = -121.855142; captureRadius = 10; duration = 54; initialDepth = 101.476658; finalDepth = 100.441429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.604655 # Actual altitude: 50 # Commanded vehicle depth:100.441429 # Seafloor depth:-141.046084 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 63; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 141.476658 meters looking forward 100.000000 meters along route # Maximum depth: 144.987386 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.476658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820141; longitude = -121.854977; captureRadius = 10; duration = 54; initialDepth = 103.504387; finalDepth = 101.476658; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.724543 # Actual altitude: 50 # Commanded vehicle depth:101.476658 # Seafloor depth:-143.201201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 62; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 143.504387 meters looking forward 100.000000 meters along route # Maximum depth: 146.527017 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.504387 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819693; longitude = -121.854812; captureRadius = 10; duration = 54; initialDepth = 104.595484; finalDepth = 103.504387; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.724543 # Actual altitude: 50 # Commanded vehicle depth:103.504387 # Seafloor depth:-144.689539 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 61; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 144.595484 meters looking forward 100.000000 meters along route # Maximum depth: 148.368042 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.595484 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819245; longitude = -121.854647; captureRadius = 10; duration = 54; initialDepth = 107.117389; finalDepth = 104.595484; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.183143 # Actual altitude: 50 # Commanded vehicle depth:104.595484 # Seafloor depth:-146.778627 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 147.117389 meters looking forward 100.000000 meters along route # Maximum depth: 149.604660 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.117389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818796; longitude = -121.854482; captureRadius = 10; duration = 54; initialDepth = 108.892669; finalDepth = 107.117389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.183143 # Actual altitude: 50 # Commanded vehicle depth:107.117389 # Seafloor depth:-148.383083 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 148.892669 meters looking forward 100.000000 meters along route # Maximum depth: 150.964860 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.892669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818348; longitude = -121.854317; captureRadius = 10; duration = 54; initialDepth = 109.430677; finalDepth = 108.892669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.265694 # Actual altitude: 50 # Commanded vehicle depth:108.892669 # Seafloor depth:-149.754734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 149.430677 meters looking forward 100.000000 meters along route # Maximum depth: 151.942020 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.430677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817900; longitude = -121.854152; captureRadius = 10; duration = 54; initialDepth = 111.135656; finalDepth = 109.430677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.613704 # Actual altitude: 50 # Commanded vehicle depth:109.430677 # Seafloor depth:-151.044381 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 151.135656 meters looking forward 100.000000 meters along route # Maximum depth: 153.714199 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.135656 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817452; longitude = -121.853987; captureRadius = 10; duration = 54; initialDepth = 112.118594; finalDepth = 111.135656; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.613704 # Actual altitude: 50 # Commanded vehicle depth:111.135656 # Seafloor depth:-152.079747 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.046829 meters # Minimum depth: 152.118594 meters looking forward 100.000000 meters along route # Maximum depth: 155.398961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.118594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817004; longitude = -121.853822; captureRadius = 10; duration = 54; initialDepth = 112.636705; finalDepth = 112.118594; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.715945 # Actual altitude: 50 # Commanded vehicle depth:112.118594 # Seafloor depth:-153.834539 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 60; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 54.046829 meters # Minimum depth: 152.636705 meters looking forward 100.000000 meters along route # Maximum depth: 155.398961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.636705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816518; longitude = -121.853643; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 111.401554; finalDepth = 112.636705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.602919 # Actual altitude: 50 # Commanded vehicle depth:112.636705 # Seafloor depth:-155.239624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 151.401554 meters looking forward 100.000000 meters along route # Maximum depth: 155.398961 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.401554 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816562; longitude = -121.853381; captureRadius = 10; duration = 54; initialDepth = 106.734113; finalDepth = 111.401554; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.937353 # Actual altitude: 50 # Commanded vehicle depth:111.401554 # Seafloor depth:-154.338907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 146.734113 meters looking forward 100.000000 meters along route # Maximum depth: 154.090257 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.734113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816656; longitude = -121.852821; captureRadius = 10; duration = 54; initialDepth = 103.175349; finalDepth = 106.734113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.348928 # Actual altitude: 50 # Commanded vehicle depth:106.734113 # Seafloor depth:-151.083041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 143.175349 meters looking forward 100.000000 meters along route # Maximum depth: 150.327242 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.175349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816750; longitude = -121.852260; captureRadius = 10; duration = 54; initialDepth = 98.787959; finalDepth = 103.175349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.348928 # Actual altitude: 50 # Commanded vehicle depth:103.175349 # Seafloor depth:-146.634517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 138.787959 meters looking forward 100.000000 meters along route # Maximum depth: 146.314388 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.787959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816844; longitude = -121.851700; captureRadius = 10; duration = 54; initialDepth = 94.175273; finalDepth = 98.787959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.599219 # Actual altitude: 50 # Commanded vehicle depth:98.787959 # Seafloor depth:-142.387178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 134.175273 meters looking forward 100.000000 meters along route # Maximum depth: 142.051356 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.175273 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816937; longitude = -121.851139; captureRadius = 10; duration = 54; initialDepth = 87.876303; finalDepth = 94.175273; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.437449 # Actual altitude: 50 # Commanded vehicle depth:94.175273 # Seafloor depth:-138.612722 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 127.876303 meters looking forward 100.000000 meters along route # Maximum depth: 138.359385 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 87.876303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817031; longitude = -121.850579; captureRadius = 10; duration = 54; initialDepth = 83.402370; finalDepth = 87.876303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.461877 # Actual altitude: 50 # Commanded vehicle depth:87.876303 # Seafloor depth:-133.338180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 123.402370 meters looking forward 100.000000 meters along route # Maximum depth: 132.678783 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.402370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817125; longitude = -121.850019; captureRadius = 10; duration = 54; initialDepth = 79.902547; finalDepth = 83.402370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.461877 # Actual altitude: 50 # Commanded vehicle depth:83.40237 # Seafloor depth:-127.496776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 119.902547 meters looking forward 100.000000 meters along route # Maximum depth: 126.600740 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.902547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817219; longitude = -121.849458; captureRadius = 10; duration = 54; initialDepth = 76.810699; finalDepth = 79.902547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.094406 # Actual altitude: 50 # Commanded vehicle depth:79.902547 # Seafloor depth:-122.299936 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 65; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 116.810699 meters looking forward 100.000000 meters along route # Maximum depth: 122.289141 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.810699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817313; longitude = -121.848898; captureRadius = 10; duration = 54; initialDepth = 73.556131; finalDepth = 76.810699; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.998937 # Actual altitude: 50 # Commanded vehicle depth:76.810699 # Seafloor depth:-119.809636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 113.556131 meters looking forward 100.000000 meters along route # Maximum depth: 119.482760 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.556131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817407; longitude = -121.848337; captureRadius = 10; duration = 54; initialDepth = 68.977709; finalDepth = 73.556131; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.206161 # Actual altitude: 50 # Commanded vehicle depth:73.556131 # Seafloor depth:-116.762292 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 108.977709 meters looking forward 100.000000 meters along route # Maximum depth: 116.136427 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.977709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817501; longitude = -121.847777; captureRadius = 10; duration = 54; initialDepth = 63.449307; finalDepth = 68.977709; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.144746 # Actual altitude: 50 # Commanded vehicle depth:68.977709 # Seafloor depth:-113.122455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 103.449307 meters looking forward 100.000000 meters along route # Maximum depth: 112.873525 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.449307 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817595; longitude = -121.847217; captureRadius = 10; duration = 54; initialDepth = 60.208888; finalDepth = 63.449307; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.026958 # Actual altitude: 50 # Commanded vehicle depth:63.449307 # Seafloor depth:-108.476265 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 100.208888 meters looking forward 100.000000 meters along route # Maximum depth: 108.027101 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.208888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817689; longitude = -121.846656; captureRadius = 10; duration = 54; initialDepth = 49.676557; finalDepth = 60.208888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.026958 # Actual altitude: 50 # Commanded vehicle depth:60.208888 # Seafloor depth:-102.701444 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 89.676557 meters looking forward 100.000000 meters along route # Maximum depth: 102.305803 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.676557 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817782; longitude = -121.846096; captureRadius = 10; duration = 54; initialDepth = 32.461708; finalDepth = 49.676557; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.025187 # Actual altitude: 50.025187 # Commanded vehicle depth:49.676557 # Seafloor depth:-99.701744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.10; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 72.461708 meters looking forward 100.000000 meters along route # Maximum depth: 99.244808 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 32.461708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817876; longitude = -121.845535; captureRadius = 10; duration = 54; initialDepth = 26.593754; finalDepth = 32.461708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.913467 # Actual altitude: 54.913467 # Commanded vehicle depth:32.461708 # Seafloor depth:-87.375175 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 66.593754 meters looking forward 100.000000 meters along route # Maximum depth: 85.848183 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 26.593754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817970; longitude = -121.844975; captureRadius = 10; duration = 54; initialDepth = 25.633078; finalDepth = 26.593754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.913467 # Actual altitude: 54.913467 # Commanded vehicle depth:26.593754 # Seafloor depth:-71.513821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.65; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.97; MB_Bottom_Detect_Filter_Max_Range = 219.65; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 65.633078 meters looking forward 100.000000 meters along route # Maximum depth: 70.312852 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 25.633078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818064; longitude = -121.844415; captureRadius = 10; duration = 54; initialDepth = 25.360222; finalDepth = 25.633078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.920067 # Actual altitude: 50 # Commanded vehicle depth:25.633078 # Seafloor depth:-66.418293 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.046829 meters # Minimum depth: 65.360222 meters looking forward 100.000000 meters along route # Maximum depth: 66.155718 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 25.360222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818158; longitude = -121.843854; captureRadius = 10; duration = 54; initialDepth = 25.360222; finalDepth = 25.360222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.785215 # Actual altitude: 50 # Commanded vehicle depth:25.360222 # Seafloor depth:-65.766545 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 54.046829 meters # Minimum depth: 65.360222 meters looking forward 100.000000 meters along route # Maximum depth: 65.859739 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 25.360222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818255; longitude = -121.843275; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 25.355270; finalDepth = 25.360222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.406323 # Actual altitude: 50 # Commanded vehicle depth:25.360222 # Seafloor depth:-65.476152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 65.355270 meters looking forward 100.000000 meters along route # Maximum depth: 65.975038 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 25.355270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818228; longitude = -121.843406; captureRadius = 10; duration = 54; initialDepth = 25.355270; finalDepth = 25.355270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.358136 # Actual altitude: 50 # Commanded vehicle depth:25.35527 # Seafloor depth:-65.713406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 65.355270 meters looking forward 100.000000 meters along route # Maximum depth: 66.633684 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 25.355270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818110; longitude = -121.843966; captureRadius = 10; duration = 54; initialDepth = 25.707112; finalDepth = 25.355270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.43714 # Actual altitude: 50 # Commanded vehicle depth:25.35527 # Seafloor depth:-65.792410 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 65.707112 meters looking forward 100.000000 meters along route # Maximum depth: 72.905725 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 25.707112 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817993; longitude = -121.844527; captureRadius = 10; duration = 54; initialDepth = 27.234275; finalDepth = 25.707112; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.165575 # Actual altitude: 50 # Commanded vehicle depth:25.707112 # Seafloor depth:-66.872687 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 67.234275 meters looking forward 100.000000 meters along route # Maximum depth: 89.606400 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 27.234275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817875; longitude = -121.845087; captureRadius = 10; duration = 54; initialDepth = 35.518740; finalDepth = 27.234275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.870428 # Actual altitude: 50 # Commanded vehicle depth:27.234275 # Seafloor depth:-74.104703 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 75.518740 meters looking forward 100.000000 meters along route # Maximum depth: 100.471087 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 35.518740 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817758; longitude = -121.845648; captureRadius = 10; duration = 54; initialDepth = 52.792294; finalDepth = 35.518740; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.749658 # Actual altitude: 55.749658 # Commanded vehicle depth:35.51874 # Seafloor depth:-91.268398 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 92.792294 meters looking forward 100.000000 meters along route # Maximum depth: 104.103445 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.792294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817640; longitude = -121.846208; captureRadius = 10; duration = 54; initialDepth = 60.851500; finalDepth = 52.792294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.749658 # Actual altitude: 55.749658 # Commanded vehicle depth:52.792294 # Seafloor depth:-100.852241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 223.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.30; MB_Bottom_Detect_Filter_Max_Range = 223.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 100.851500 meters looking forward 100.000000 meters along route # Maximum depth: 109.976367 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.851500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817523; longitude = -121.846768; captureRadius = 10; duration = 54; initialDepth = 65.405854; finalDepth = 60.851500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.059947 # Actual altitude: 50 # Commanded vehicle depth:60.8515 # Seafloor depth:-104.572805 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 70; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 105.405854 meters looking forward 100.000000 meters along route # Maximum depth: 114.490709 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.405854 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817405; longitude = -121.847329; captureRadius = 10; duration = 54; initialDepth = 71.029474; finalDepth = 65.405854; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.23826 # Actual altitude: 50 # Commanded vehicle depth:65.405854 # Seafloor depth:-110.644114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 111.029474 meters looking forward 100.000000 meters along route # Maximum depth: 117.857657 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.029474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817288; longitude = -121.847889; captureRadius = 10; duration = 54; initialDepth = 75.589937; finalDepth = 71.029474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.23826 # Actual altitude: 50 # Commanded vehicle depth:71.029474 # Seafloor depth:-114.771593 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 115.589937 meters looking forward 100.000000 meters along route # Maximum depth: 120.586515 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.589937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817170; longitude = -121.848450; captureRadius = 10; duration = 54; initialDepth = 78.128919; finalDepth = 75.589937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.742119 # Actual altitude: 50 # Commanded vehicle depth:75.589937 # Seafloor depth:-117.882266 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 118.128919 meters looking forward 100.000000 meters along route # Maximum depth: 124.212246 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.128919 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817053; longitude = -121.849010; captureRadius = 10; duration = 54; initialDepth = 80.648134; finalDepth = 78.128919; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.36955 # Actual altitude: 50 # Commanded vehicle depth:78.128919 # Seafloor depth:-120.498469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 120.648134 meters looking forward 100.000000 meters along route # Maximum depth: 129.251309 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.648134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816936; longitude = -121.849570; captureRadius = 10; duration = 54; initialDepth = 84.886884; finalDepth = 80.648134; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.025888 # Actual altitude: 50 # Commanded vehicle depth:80.648134 # Seafloor depth:-124.674022 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 124.886884 meters looking forward 100.000000 meters along route # Maximum depth: 135.901177 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.886884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816818; longitude = -121.850131; captureRadius = 10; duration = 54; initialDepth = 90.327444; finalDepth = 84.886884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.357112 # Actual altitude: 50 # Commanded vehicle depth:84.886884 # Seafloor depth:-130.243996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 130.327444 meters looking forward 100.000000 meters along route # Maximum depth: 141.069116 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.327444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816701; longitude = -121.850691; captureRadius = 10; duration = 54; initialDepth = 97.000527; finalDepth = 90.327444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.872858 # Actual altitude: 50 # Commanded vehicle depth:90.327444 # Seafloor depth:-136.200302 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 137.000527 meters looking forward 100.000000 meters along route # Maximum depth: 145.531083 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.000527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816583; longitude = -121.851252; captureRadius = 10; duration = 54; initialDepth = 101.688670; finalDepth = 97.000527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.872858 # Actual altitude: 50 # Commanded vehicle depth:97.000527 # Seafloor depth:-141.427323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 141.688670 meters looking forward 100.000000 meters along route # Maximum depth: 150.000212 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.688670 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816466; longitude = -121.851812; captureRadius = 10; duration = 54; initialDepth = 106.490215; finalDepth = 101.688670; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.426796 # Actual altitude: 50 # Commanded vehicle depth:101.68867 # Seafloor depth:-146.115166 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 146.490215 meters looking forward 100.000000 meters along route # Maximum depth: 153.049095 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.490215 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816348; longitude = -121.852372; captureRadius = 10; duration = 54; initialDepth = 110.592142; finalDepth = 106.490215; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.426496 # Actual altitude: 50 # Commanded vehicle depth:106.490215 # Seafloor depth:-150.338511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 150.592142 meters looking forward 100.000000 meters along route # Maximum depth: 157.511641 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.592142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816231; longitude = -121.852933; captureRadius = 10; duration = 54; initialDepth = 113.569225; finalDepth = 110.592142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.848296 # Actual altitude: 50 # Commanded vehicle depth:110.592142 # Seafloor depth:-153.156079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 153.569225 meters looking forward 100.000000 meters along route # Maximum depth: 157.629320 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.569225 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816113; longitude = -121.853493; captureRadius = 10; duration = 54; initialDepth = 113.164495; finalDepth = 113.569225; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.060095 # Actual altitude: 50 # Commanded vehicle depth:113.569225 # Seafloor depth:-157.629320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 153.164495 meters looking forward 100.000000 meters along route # Maximum depth: 157.226790 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.164495 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815995; longitude = -121.854057; captureRadius = 10; duration = 54; initialDepth = 112.833915; finalDepth = 113.164495; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.060095 # Actual altitude: 50 # Commanded vehicle depth:113.164495 # Seafloor depth:-154.541374 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 152.833915 meters looking forward 100.000000 meters along route # Maximum depth: 154.123089 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.833915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815879; longitude = -121.854614; captureRadius = 10; duration = 54; initialDepth = 112.833915; finalDepth = 112.833915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.376879 # Actual altitude: 50 # Commanded vehicle depth:112.833915 # Seafloor depth:-153.102881 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 152.833915 meters looking forward 100.000000 meters along route # Maximum depth: 153.898318 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.833915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815761; longitude = -121.855174; captureRadius = 10; duration = 54; initialDepth = 113.066604; finalDepth = 112.833915; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.553268 # Actual altitude: 50 # Commanded vehicle depth:112.833915 # Seafloor depth:-153.387183 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 153.066604 meters looking forward 100.000000 meters along route # Maximum depth: 153.991322 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.066604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815644; longitude = -121.855735; captureRadius = 10; duration = 54; initialDepth = 113.434435; finalDepth = 113.066604; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.553268 # Actual altitude: 50 # Commanded vehicle depth:113.066604 # Seafloor depth:-153.589535 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 153.434435 meters looking forward 100.000000 meters along route # Maximum depth: 154.170113 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.434435 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815526; longitude = -121.856295; captureRadius = 10; duration = 54; initialDepth = 113.552486; finalDepth = 113.434435; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.522931 # Actual altitude: 50 # Commanded vehicle depth:113.434435 # Seafloor depth:-153.887114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 153.552486 meters looking forward 100.000000 meters along route # Maximum depth: 154.502495 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.552486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815409; longitude = -121.856856; captureRadius = 10; duration = 54; initialDepth = 113.663451; finalDepth = 113.552486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.950009 # Actual altitude: 50 # Commanded vehicle depth:113.552486 # Seafloor depth:-154.502495 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 153.663451 meters looking forward 100.000000 meters along route # Maximum depth: 154.437916 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.663451 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815291; longitude = -121.857416; captureRadius = 10; duration = 54; initialDepth = 109.406720; finalDepth = 113.663451; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.950009 # Actual altitude: 50 # Commanded vehicle depth:113.663451 # Seafloor depth:-154.321503 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 149.406720 meters looking forward 100.000000 meters along route # Maximum depth: 154.376810 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.406720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815174; longitude = -121.857976; captureRadius = 10; duration = 54; initialDepth = 97.244738; finalDepth = 109.406720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.30883 # Actual altitude: 50 # Commanded vehicle depth:109.40672 # Seafloor depth:-153.715550 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 137.244738 meters looking forward 100.000000 meters along route # Maximum depth: 153.357756 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.244738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815056; longitude = -121.858537; captureRadius = 10; duration = 54; initialDepth = 83.757027; finalDepth = 97.244738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.439114 # Actual altitude: 51.439114 # Commanded vehicle depth:97.244738 # Seafloor depth:-148.683852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.76; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.58; MB_Bottom_Detect_Filter_Max_Range = 205.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 123.757027 meters looking forward 100.000000 meters along route # Maximum depth: 147.581881 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.757027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814939; longitude = -121.859097; captureRadius = 10; duration = 54; initialDepth = 73.082497; finalDepth = 83.757027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.003969 # Actual altitude: 52.003969 # Commanded vehicle depth:83.757027 # Seafloor depth:-135.760996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 113.082497 meters looking forward 100.000000 meters along route # Maximum depth: 135.301353 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.082497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814819; longitude = -121.859670; captureRadius = 10; duration = 54; initialDepth = 66.704015; finalDepth = 73.082497; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.003969 # Actual altitude: 52.003969 # Commanded vehicle depth:73.082497 # Seafloor depth:-123.402776 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.80; MB_Bottom_Detect_Filter_Max_Range = 208.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 106.704015 meters looking forward 100.000000 meters along route # Maximum depth: 122.256622 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.704015 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814704; longitude = -121.860218; captureRadius = 10; duration = 54; initialDepth = 59.286342; finalDepth = 66.704015; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.320279 # Actual altitude: 50.320279 # Commanded vehicle depth:66.704015 # Seafloor depth:-112.882860 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.13; MB_Bottom_Detect_Filter_Max_Range = 201.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 99.286342 meters looking forward 100.000000 meters along route # Maximum depth: 111.657030 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.286342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814587; longitude = -121.860778; captureRadius = 10; duration = 54; initialDepth = 50.893995; finalDepth = 59.286342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.842779 # Actual altitude: 50 # Commanded vehicle depth:59.286342 # Seafloor depth:-106.129121 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 90.893995 meters looking forward 100.000000 meters along route # Maximum depth: 104.827863 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.893995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814469; longitude = -121.861339; captureRadius = 10; duration = 54; initialDepth = 46.554291; finalDepth = 50.893995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.858683 # Actual altitude: 50 # Commanded vehicle depth:50.893995 # Seafloor depth:-98.752678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 86.554291 meters looking forward 100.000000 meters along route # Maximum depth: 97.059981 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.554291 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814352; longitude = -121.861899; captureRadius = 10; duration = 54; initialDepth = 43.458524; finalDepth = 46.554291; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.858683 # Actual altitude: 50 # Commanded vehicle depth:46.554291 # Seafloor depth:-90.143601 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 54.046829 meters # Minimum depth: 83.458524 meters looking forward 100.000000 meters along route # Maximum depth: 88.974514 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.458524 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814234; longitude = -121.862460; captureRadius = 10; duration = 54; initialDepth = 43.062418; finalDepth = 43.458524; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.58931 # Actual altitude: 50 # Commanded vehicle depth:43.458524 # Seafloor depth:-86.439728 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 54.046829 meters # Minimum depth: 83.062418 meters looking forward 100.000000 meters along route # Maximum depth: 86.596781 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 43.062418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814109; longitude = -121.863057; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 42.211150; finalDepth = 43.062418; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.981204 # Actual altitude: 50 # Commanded vehicle depth:43.062418 # Seafloor depth:-83.399378 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 82.211150 meters looking forward 100.000000 meters along route # Maximum depth: 84.133513 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.211150 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813866; longitude = -121.863232; captureRadius = 10; duration = 54; initialDepth = 41.324925; finalDepth = 42.211150; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.636399 # Actual altitude: 50 # Commanded vehicle depth:42.21115 # Seafloor depth:-82.847549 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 81.324925 meters looking forward 100.000000 meters along route # Maximum depth: 82.798984 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 41.324925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813474; longitude = -121.863515; captureRadius = 10; duration = 54; initialDepth = 40.476441; finalDepth = 41.324925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.792861 # Actual altitude: 50 # Commanded vehicle depth:41.324925 # Seafloor depth:-82.117786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 80.476441 meters looking forward 100.000000 meters along route # Maximum depth: 82.093731 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 40.476441 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813082; longitude = -121.863798; captureRadius = 10; duration = 54; initialDepth = 39.496647; finalDepth = 40.476441; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.034458 # Actual altitude: 50 # Commanded vehicle depth:40.476441 # Seafloor depth:-81.510899 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 79.496647 meters looking forward 100.000000 meters along route # Maximum depth: 81.485123 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.496647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812690; longitude = -121.864081; captureRadius = 10; duration = 54; initialDepth = 39.199303; finalDepth = 39.496647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.034458 # Actual altitude: 50 # Commanded vehicle depth:39.496647 # Seafloor depth:-80.520491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 79.199303 meters looking forward 100.000000 meters along route # Maximum depth: 80.532626 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.199303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812297; longitude = -121.864365; captureRadius = 10; duration = 54; initialDepth = 38.468759; finalDepth = 39.199303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.023844 # Actual altitude: 50 # Commanded vehicle depth:39.199303 # Seafloor depth:-79.495633 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 78.468759 meters looking forward 100.000000 meters along route # Maximum depth: 79.863456 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 38.468759 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811906; longitude = -121.864647; captureRadius = 10; duration = 54; initialDepth = 37.847439; finalDepth = 38.468759; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.047911 # Actual altitude: 50 # Commanded vehicle depth:38.468759 # Seafloor depth:-79.516670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 77.847439 meters looking forward 100.000000 meters along route # Maximum depth: 79.268526 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.847439 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811514; longitude = -121.864930; captureRadius = 10; duration = 54; initialDepth = 37.553007; finalDepth = 37.847439; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.047911 # Actual altitude: 50 # Commanded vehicle depth:37.847439 # Seafloor depth:-78.552223 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 54.046829 meters # Minimum depth: 77.553007 meters looking forward 100.000000 meters along route # Maximum depth: 78.271397 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.553007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811121; longitude = -121.865213; captureRadius = 10; duration = 54; initialDepth = 37.553007; finalDepth = 37.553007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.704784 # Actual altitude: 50 # Commanded vehicle depth:37.553007 # Seafloor depth:-78.091779 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 54.046829 meters # Minimum depth: 77.553007 meters looking forward 100.000000 meters along route # Maximum depth: 78.091779 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.553007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810692; longitude = -121.865523; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 37.553007; finalDepth = 37.553007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.538772 # Actual altitude: 50 # Commanded vehicle depth:37.553007 # Seafloor depth:-77.672239 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 77.553007 meters looking forward 100.000000 meters along route # Maximum depth: 78.852171 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.553007 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810678; longitude = -121.865149; captureRadius = 10; duration = 54; initialDepth = 37.877565; finalDepth = 37.553007; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.167072 # Actual altitude: 50 # Commanded vehicle depth:37.553007 # Seafloor depth:-77.720079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 77.877565 meters looking forward 100.000000 meters along route # Maximum depth: 87.442939 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 37.877565 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810658; longitude = -121.864589; captureRadius = 10; duration = 54; initialDepth = 39.122769; finalDepth = 37.877565; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.133172 # Actual altitude: 50 # Commanded vehicle depth:37.877565 # Seafloor depth:-79.010737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 79.122769 meters looking forward 100.000000 meters along route # Maximum depth: 99.183137 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 39.122769 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810637; longitude = -121.864029; captureRadius = 10; duration = 54; initialDepth = 49.133556; finalDepth = 39.122769; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.155792 # Actual altitude: 50 # Commanded vehicle depth:39.122769 # Seafloor depth:-88.278561 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 89.133556 meters looking forward 100.000000 meters along route # Maximum depth: 111.069925 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 49.133556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810617; longitude = -121.863468; captureRadius = 10; duration = 54; initialDepth = 61.089755; finalDepth = 49.133556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.176152 # Actual altitude: 50.176152 # Commanded vehicle depth:49.133556 # Seafloor depth:-99.309708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.70; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.07; MB_Bottom_Detect_Filter_Max_Range = 200.70; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 101.089755 meters looking forward 100.000000 meters along route # Maximum depth: 126.477130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.089755 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810596; longitude = -121.862908; captureRadius = 10; duration = 54; initialDepth = 73.717666; finalDepth = 61.089755; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.295775 # Actual altitude: 51.295775 # Commanded vehicle depth:61.089755 # Seafloor depth:-112.385530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 205.18; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.52; MB_Bottom_Detect_Filter_Max_Range = 205.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 113.717666 meters looking forward 100.000000 meters along route # Maximum depth: 141.924371 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.717666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810576; longitude = -121.862347; captureRadius = 10; duration = 54; initialDepth = 90.022475; finalDepth = 73.717666; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.548864 # Actual altitude: 54.548864 # Commanded vehicle depth:73.717666 # Seafloor depth:-128.266530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 130.022475 meters looking forward 100.000000 meters along route # Maximum depth: 153.480722 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.022475 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810555; longitude = -121.861787; captureRadius = 10; duration = 54; initialDepth = 104.716760; finalDepth = 90.022475; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.548864 # Actual altitude: 54.548864 # Commanded vehicle depth:90.022475 # Seafloor depth:-142.650387 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.82; MB_Bottom_Detect_Filter_Max_Range = 218.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 144.716760 meters looking forward 100.000000 meters along route # Maximum depth: 160.417620 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.716760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810535; longitude = -121.861227; captureRadius = 10; duration = 54; initialDepth = 114.687589; finalDepth = 104.716760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.627912 # Actual altitude: 52.627912 # Commanded vehicle depth:104.71676 # Seafloor depth:-154.037904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 210.51; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.05; MB_Bottom_Detect_Filter_Max_Range = 210.51; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 157.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 154.687589 meters looking forward 100.000000 meters along route # Maximum depth: 166.220873 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.687589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810515; longitude = -121.860666; captureRadius = 10; duration = 54; initialDepth = 121.094417; finalDepth = 114.687589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.321144 # Actual altitude: 50 # Commanded vehicle depth:114.687589 # Seafloor depth:-161.000818 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 161.094417 meters looking forward 100.000000 meters along route # Maximum depth: 171.676270 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.094417 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810494; longitude = -121.860106; captureRadius = 10; duration = 54; initialDepth = 127.153404; finalDepth = 121.094417; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.313229 # Actual altitude: 50 # Commanded vehicle depth:121.094417 # Seafloor depth:-166.589681 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 167.153404 meters looking forward 100.000000 meters along route # Maximum depth: 174.627009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.153404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810474; longitude = -121.859545; captureRadius = 10; duration = 54; initialDepth = 131.938360; finalDepth = 127.153404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.495264 # Actual altitude: 50 # Commanded vehicle depth:127.153404 # Seafloor depth:-171.806700 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 171.938360 meters looking forward 100.000000 meters along route # Maximum depth: 177.378419 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.938360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810453; longitude = -121.858985; captureRadius = 10; duration = 54; initialDepth = 135.525258; finalDepth = 131.938360; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.653296 # Actual altitude: 50 # Commanded vehicle depth:131.93836 # Seafloor depth:-175.159571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 175.525258 meters looking forward 100.000000 meters along route # Maximum depth: 180.896978 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.525258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810433; longitude = -121.858425; captureRadius = 10; duration = 54; initialDepth = 138.335652; finalDepth = 135.525258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.221211 # Actual altitude: 50 # Commanded vehicle depth:135.525258 # Seafloor depth:-177.900870 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 178.335652 meters looking forward 100.000000 meters along route # Maximum depth: 183.741931 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.335652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810412; longitude = -121.857864; captureRadius = 10; duration = 54; initialDepth = 141.404763; finalDepth = 138.335652; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.772987 # Actual altitude: 50 # Commanded vehicle depth:138.335652 # Seafloor depth:-181.108639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 181.404763 meters looking forward 100.000000 meters along route # Maximum depth: 184.707809 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.404763 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810392; longitude = -121.857304; captureRadius = 10; duration = 54; initialDepth = 144.432175; finalDepth = 141.404763; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.772987 # Actual altitude: 50 # Commanded vehicle depth:141.404763 # Seafloor depth:-184.013629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 184.432175 meters looking forward 100.000000 meters along route # Maximum depth: 185.608105 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.432175 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810371; longitude = -121.856743; captureRadius = 10; duration = 54; initialDepth = 144.522095; finalDepth = 144.432175; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.608866 # Actual altitude: 50 # Commanded vehicle depth:144.432175 # Seafloor depth:-184.505068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 184.522095 meters looking forward 100.000000 meters along route # Maximum depth: 186.058543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.522095 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810351; longitude = -121.856183; captureRadius = 10; duration = 54; initialDepth = 145.095055; finalDepth = 144.522095; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.485849 # Actual altitude: 50 # Commanded vehicle depth:144.522095 # Seafloor depth:-185.007944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 185.095055 meters looking forward 100.000000 meters along route # Maximum depth: 186.058543 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.095055 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810330; longitude = -121.855623; captureRadius = 10; duration = 54; initialDepth = 145.053535; finalDepth = 145.095055; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.759802 # Actual altitude: 50 # Commanded vehicle depth:145.095055 # Seafloor depth:-185.854857 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 185.053535 meters looking forward 100.000000 meters along route # Maximum depth: 185.806009 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.053535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810310; longitude = -121.855062; captureRadius = 10; duration = 54; initialDepth = 144.359312; finalDepth = 145.053535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.759802 # Actual altitude: 50 # Commanded vehicle depth:145.053535 # Seafloor depth:-185.488970 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 184.359312 meters looking forward 100.000000 meters along route # Maximum depth: 185.457594 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.359312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810289; longitude = -121.854502; captureRadius = 10; duration = 54; initialDepth = 144.359312; finalDepth = 144.359312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.620582 # Actual altitude: 50 # Commanded vehicle depth:144.359312 # Seafloor depth:-184.979894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 184.359312 meters looking forward 100.000000 meters along route # Maximum depth: 186.815187 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.359312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810269; longitude = -121.853941; captureRadius = 10; duration = 54; initialDepth = 145.102433; finalDepth = 144.359312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.712058 # Actual altitude: 50 # Commanded vehicle depth:144.359312 # Seafloor depth:-185.071370 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 185.102433 meters looking forward 100.000000 meters along route # Maximum depth: 187.681532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.102433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810248; longitude = -121.853381; captureRadius = 10; duration = 54; initialDepth = 144.705852; finalDepth = 145.102433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.684072 # Actual altitude: 50 # Commanded vehicle depth:145.102433 # Seafloor depth:-186.786505 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 54.046829 meters # Minimum depth: 184.705852 meters looking forward 100.000000 meters along route # Maximum depth: 187.681532 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.705852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810228; longitude = -121.852821; captureRadius = 10; duration = 54; initialDepth = 144.624499; finalDepth = 144.705852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.362969 # Actual altitude: 50 # Commanded vehicle depth:144.705852 # Seafloor depth:-187.068821 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 54.046829 meters # Minimum depth: 184.624499 meters looking forward 100.000000 meters along route # Maximum depth: 187.385556 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.624499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810206; longitude = -121.852223; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 144.624499; finalDepth = 144.624499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.362969 # Actual altitude: 50 # Commanded vehicle depth:144.624499 # Seafloor depth:-184.700836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 184.624499 meters looking forward 100.000000 meters along route # Maximum depth: 186.466487 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 144.624499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810505; longitude = -121.852282; captureRadius = 10; duration = 54; initialDepth = 145.468367; finalDepth = 144.624499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.666469 # Actual altitude: 50 # Commanded vehicle depth:144.624499 # Seafloor depth:-185.290968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 185.468367 meters looking forward 100.000000 meters along route # Maximum depth: 186.778576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 145.468367 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810953; longitude = -121.852371; captureRadius = 10; duration = 54; initialDepth = 140.655535; finalDepth = 145.468367; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.019586 # Actual altitude: 50 # Commanded vehicle depth:145.468367 # Seafloor depth:-186.487953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 180.655535 meters looking forward 100.000000 meters along route # Maximum depth: 186.778576 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.655535 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811402; longitude = -121.852459; captureRadius = 10; duration = 54; initialDepth = 136.029648; finalDepth = 140.655535; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.240784 # Actual altitude: 50 # Commanded vehicle depth:140.655535 # Seafloor depth:-184.896319 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 176.029648 meters looking forward 100.000000 meters along route # Maximum depth: 184.384407 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.029648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811850; longitude = -121.852548; captureRadius = 10; duration = 54; initialDepth = 133.818671; finalDepth = 136.029648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.240784 # Actual altitude: 50 # Commanded vehicle depth:136.029648 # Seafloor depth:-180.139133 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 173.818671 meters looking forward 100.000000 meters along route # Maximum depth: 179.696168 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.818671 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812298; longitude = -121.852637; captureRadius = 10; duration = 54; initialDepth = 131.087800; finalDepth = 133.818671; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.109485 # Actual altitude: 50 # Commanded vehicle depth:133.818671 # Seafloor depth:-175.759880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 171.087800 meters looking forward 100.000000 meters along route # Maximum depth: 175.587344 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.087800 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812746; longitude = -121.852725; captureRadius = 10; duration = 54; initialDepth = 129.303347; finalDepth = 131.087800; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.941209 # Actual altitude: 50 # Commanded vehicle depth:131.0878 # Seafloor depth:-172.488066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 169.303347 meters looking forward 100.000000 meters along route # Maximum depth: 171.846082 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.303347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813194; longitude = -121.852814; captureRadius = 10; duration = 54; initialDepth = 126.222938; finalDepth = 129.303347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.615323 # Actual altitude: 50 # Commanded vehicle depth:129.303347 # Seafloor depth:-170.918670 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 166.222938 meters looking forward 100.000000 meters along route # Maximum depth: 170.592862 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 126.222938 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813642; longitude = -121.852903; captureRadius = 10; duration = 54; initialDepth = 124.291884; finalDepth = 126.222938; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.931508 # Actual altitude: 50 # Commanded vehicle depth:126.222938 # Seafloor depth:-169.154446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 164.291884 meters looking forward 100.000000 meters along route # Maximum depth: 168.939795 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.291884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814091; longitude = -121.852991; captureRadius = 10; duration = 54; initialDepth = 121.790326; finalDepth = 124.291884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.931508 # Actual altitude: 50 # Commanded vehicle depth:124.291884 # Seafloor depth:-166.117305 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 54.046829 meters # Minimum depth: 161.790326 meters looking forward 100.000000 meters along route # Maximum depth: 165.905966 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.790326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814539; longitude = -121.853080; captureRadius = 10; duration = 54; initialDepth = 121.790326; finalDepth = 121.790326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.249154 # Actual altitude: 50 # Commanded vehicle depth:121.790326 # Seafloor depth:-164.039480 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 54.046829 meters # Minimum depth: 161.790326 meters looking forward 100.000000 meters along route # Maximum depth: 165.523433 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.790326 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815024; longitude = -121.853176; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 120.592164; finalDepth = 121.790326; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.249154 # Actual altitude: 50 # Commanded vehicle depth:121.790326 # Seafloor depth:-162.182648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 160.592164 meters looking forward 100.000000 meters along route # Maximum depth: 163.182762 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.592164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815099; longitude = -121.853204; captureRadius = 10; duration = 54; initialDepth = 118.083271; finalDepth = 120.592164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.450575 # Actual altitude: 50 # Commanded vehicle depth:120.592164 # Seafloor depth:-162.042739 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 158.083271 meters looking forward 100.000000 meters along route # Maximum depth: 161.619851 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.083271 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815547; longitude = -121.853371; captureRadius = 10; duration = 54; initialDepth = 115.697983; finalDepth = 118.083271; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.066983 # Actual altitude: 50 # Commanded vehicle depth:118.083271 # Seafloor depth:-160.150254 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 155.697983 meters looking forward 100.000000 meters along route # Maximum depth: 159.921272 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.697983 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815995; longitude = -121.853538; captureRadius = 10; duration = 54; initialDepth = 113.948988; finalDepth = 115.697983; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.066983 # Actual altitude: 50 # Commanded vehicle depth:115.697983 # Seafloor depth:-157.698405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 153.948988 meters looking forward 100.000000 meters along route # Maximum depth: 157.460560 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.948988 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816443; longitude = -121.853705; captureRadius = 10; duration = 54; initialDepth = 112.208349; finalDepth = 113.948988; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.000422 # Actual altitude: 50 # Commanded vehicle depth:113.948988 # Seafloor depth:-155.627348 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 152.208349 meters looking forward 100.000000 meters along route # Maximum depth: 155.362446 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.208349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816892; longitude = -121.853873; captureRadius = 10; duration = 54; initialDepth = 111.422521; finalDepth = 112.208349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.67836 # Actual altitude: 50 # Commanded vehicle depth:112.208349 # Seafloor depth:-153.675819 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 151.422521 meters looking forward 100.000000 meters along route # Maximum depth: 153.664130 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.422521 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817340; longitude = -121.854040; captureRadius = 10; duration = 54; initialDepth = 109.946241; finalDepth = 111.422521; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.46747 # Actual altitude: 50 # Commanded vehicle depth:111.422521 # Seafloor depth:-152.161405 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 149.946241 meters looking forward 100.000000 meters along route # Maximum depth: 151.970164 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.946241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817788; longitude = -121.854207; captureRadius = 10; duration = 54; initialDepth = 109.359049; finalDepth = 109.946241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.496116 # Actual altitude: 50 # Commanded vehicle depth:109.946241 # Seafloor depth:-151.442357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 149.359049 meters looking forward 100.000000 meters along route # Maximum depth: 151.385331 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.359049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818236; longitude = -121.854374; captureRadius = 10; duration = 54; initialDepth = 107.972222; finalDepth = 109.359049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.496116 # Actual altitude: 50 # Commanded vehicle depth:109.359049 # Seafloor depth:-149.495710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 147.972222 meters looking forward 100.000000 meters along route # Maximum depth: 149.800013 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.972222 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818684; longitude = -121.854541; captureRadius = 10; duration = 54; initialDepth = 105.022386; finalDepth = 107.972222; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.002315 # Actual altitude: 50 # Commanded vehicle depth:107.972222 # Seafloor depth:-148.974537 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 145.022386 meters looking forward 100.000000 meters along route # Maximum depth: 148.645724 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.022386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819132; longitude = -121.854708; captureRadius = 10; duration = 54; initialDepth = 104.291900; finalDepth = 105.022386; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.358002 # Actual altitude: 50 # Commanded vehicle depth:105.022386 # Seafloor depth:-147.380388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 144.291900 meters looking forward 100.000000 meters along route # Maximum depth: 146.954750 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.291900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819581; longitude = -121.854876; captureRadius = 10; duration = 54; initialDepth = 102.017371; finalDepth = 104.291900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.358002 # Actual altitude: 50 # Commanded vehicle depth:104.2919 # Seafloor depth:-144.708474 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 142.017371 meters looking forward 100.000000 meters along route # Maximum depth: 145.369681 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.017371 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820029; longitude = -121.855043; captureRadius = 10; duration = 54; initialDepth = 100.337844; finalDepth = 102.017371; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.009899 # Actual altitude: 50 # Commanded vehicle depth:102.017371 # Seafloor depth:-144.027270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 140.337844 meters looking forward 100.000000 meters along route # Maximum depth: 143.665074 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.337844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820477; longitude = -121.855210; captureRadius = 10; duration = 54; initialDepth = 99.813038; finalDepth = 100.337844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.009899 # Actual altitude: 50 # Commanded vehicle depth:100.337844 # Seafloor depth:-141.621178 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 139.813038 meters looking forward 100.000000 meters along route # Maximum depth: 141.663152 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.813038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820925; longitude = -121.855377; captureRadius = 10; duration = 54; initialDepth = 97.509160; finalDepth = 99.813038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.283334 # Actual altitude: 50 # Commanded vehicle depth:99.813038 # Seafloor depth:-140.329459 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 137.509160 meters looking forward 100.000000 meters along route # Maximum depth: 140.304778 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.509160 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821373; longitude = -121.855544; captureRadius = 10; duration = 54; initialDepth = 95.715400; finalDepth = 97.509160; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.795618 # Actual altitude: 50 # Commanded vehicle depth:97.50916 # Seafloor depth:-140.304778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 135.715400 meters looking forward 100.000000 meters along route # Maximum depth: 139.969443 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.715400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821821; longitude = -121.855711; captureRadius = 10; duration = 54; initialDepth = 95.216314; finalDepth = 95.715400; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.795618 # Actual altitude: 50 # Commanded vehicle depth:95.7154 # Seafloor depth:-137.518938 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 135.216314 meters looking forward 100.000000 meters along route # Maximum depth: 137.380108 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.216314 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822270; longitude = -121.855879; captureRadius = 10; duration = 54; initialDepth = 92.654382; finalDepth = 95.216314; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.803538 # Actual altitude: 50 # Commanded vehicle depth:95.216314 # Seafloor depth:-135.623098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 54.046829 meters # Minimum depth: 132.654382 meters looking forward 100.000000 meters along route # Maximum depth: 135.829325 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.654382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822718; longitude = -121.856046; captureRadius = 10; duration = 54; initialDepth = 90.407626; finalDepth = 92.654382; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.153108 # Actual altitude: 50 # Commanded vehicle depth:92.654382 # Seafloor depth:-134.807490 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 54.046829 meters # Minimum depth: 130.407626 meters looking forward 100.000000 meters along route # Maximum depth: 134.807490 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.407626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823185; longitude = -121.856220; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 89.850892; finalDepth = 90.407626; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.153108 # Actual altitude: 50 # Commanded vehicle depth:90.407626 # Seafloor depth:-132.450394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 129.850892 meters looking forward 100.000000 meters along route # Maximum depth: 132.654382 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.850892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823558; longitude = -121.856259; captureRadius = 10; duration = 54; initialDepth = 84.198026; finalDepth = 89.850892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.042768 # Actual altitude: 50 # Commanded vehicle depth:89.850892 # Seafloor depth:-130.826207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 124.198026 meters looking forward 100.000000 meters along route # Maximum depth: 130.304219 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.198026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824062; longitude = -121.856311; captureRadius = 10; duration = 54; initialDepth = 79.520444; finalDepth = 84.198026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.296795 # Actual altitude: 50 # Commanded vehicle depth:84.198026 # Seafloor depth:-129.494821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 119.520444 meters looking forward 100.000000 meters along route # Maximum depth: 128.673833 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.520444 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824566; longitude = -121.856364; captureRadius = 10; duration = 54; initialDepth = 75.735832; finalDepth = 79.520444; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.296795 # Actual altitude: 50 # Commanded vehicle depth:79.520444 # Seafloor depth:-123.666945 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 115.735832 meters looking forward 100.000000 meters along route # Maximum depth: 122.717703 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.735832 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825071; longitude = -121.856416; captureRadius = 10; duration = 54; initialDepth = 71.745705; finalDepth = 75.735832; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.146501 # Actual altitude: 50 # Commanded vehicle depth:75.735832 # Seafloor depth:-118.946799 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 111.745705 meters looking forward 100.000000 meters along route # Maximum depth: 118.887840 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.745705 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825575; longitude = -121.856469; captureRadius = 10; duration = 54; initialDepth = 67.239778; finalDepth = 71.745705; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.682617 # Actual altitude: 50 # Commanded vehicle depth:71.745705 # Seafloor depth:-115.428322 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 107.239778 meters looking forward 100.000000 meters along route # Maximum depth: 115.255092 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.239778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826060; longitude = -121.856519; captureRadius = 10; duration = 54; initialDepth = 62.486094; finalDepth = 67.239778; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.20524 # Actual altitude: 50 # Commanded vehicle depth:67.239778 # Seafloor depth:-111.445018 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 102.486094 meters looking forward 100.000000 meters along route # Maximum depth: 110.642677 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.486094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826527; longitude = -121.856568; captureRadius = 10; duration = 54; initialDepth = 58.835616; finalDepth = 62.486094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.20524 # Actual altitude: 50 # Commanded vehicle depth:62.486094 # Seafloor depth:-106.573318 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 98.835616 meters looking forward 100.000000 meters along route # Maximum depth: 105.492706 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.835616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827031; longitude = -121.856620; captureRadius = 10; duration = 54; initialDepth = 55.421945; finalDepth = 58.835616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.087224 # Actual altitude: 50 # Commanded vehicle depth:58.835616 # Seafloor depth:-101.919160 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 95.421945 meters looking forward 100.000000 meters along route # Maximum depth: 101.441284 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.421945 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827536; longitude = -121.856673; captureRadius = 10; duration = 54; initialDepth = 53.247771; finalDepth = 55.421945; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.083544 # Actual altitude: 50 # Commanded vehicle depth:55.421945 # Seafloor depth:-98.388452 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 93.247771 meters looking forward 100.000000 meters along route # Maximum depth: 97.975404 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.247771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828040; longitude = -121.856725; captureRadius = 10; duration = 54; initialDepth = 50.029440; finalDepth = 53.247771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.966507 # Actual altitude: 50 # Commanded vehicle depth:53.247771 # Seafloor depth:-95.283854 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 90.029440 meters looking forward 100.000000 meters along route # Maximum depth: 94.718319 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 50.029440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828544; longitude = -121.856778; captureRadius = 10; duration = 54; initialDepth = 47.370806; finalDepth = 50.029440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.398724 # Actual altitude: 50 # Commanded vehicle depth:50.02944 # Seafloor depth:-92.428164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 87.370806 meters looking forward 100.000000 meters along route # Maximum depth: 92.274922 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 47.370806 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829048; longitude = -121.856830; captureRadius = 10; duration = 54; initialDepth = 44.401619; finalDepth = 47.370806; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.514336 # Actual altitude: 50 # Commanded vehicle depth:47.370806 # Seafloor depth:-89.885142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 84.401619 meters looking forward 100.000000 meters along route # Maximum depth: 88.880654 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.401619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829552; longitude = -121.856883; captureRadius = 10; duration = 54; initialDepth = 42.308925; finalDepth = 44.401619; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.848837 # Actual altitude: 50 # Commanded vehicle depth:44.401619 # Seafloor depth:-87.250456 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.046829 meters # Minimum depth: 82.308925 meters looking forward 100.000000 meters along route # Maximum depth: 86.001053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.308925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830057; longitude = -121.856935; captureRadius = 10; duration = 54; initialDepth = 42.009872; finalDepth = 42.308925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.848837 # Actual altitude: 50 # Commanded vehicle depth:42.308925 # Seafloor depth:-84.230891 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 41.921966 # Sonar parameter altitude: 50 # Commanded vehicle depth:42.009872 # Seafloor depth:-82.009872 # 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 = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; Log_Mode = 0; } # # Acoustic update - sent status ping before start of logging # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # # Waypoint_depth behavior to get to start of line 1 # Segment length 54.046829 meters # Minimum depth: 82.009872 meters looking forward 100.000000 meters along route # Maximum depth: 86.001053 meters looking forward 100.000000 meters along route # Maximum vehicle depth: 160.468367 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 42.009872 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830542; longitude = -121.856986; captureRadius = 10; duration = 600; initialDepth = 42.009872; finalDepth = 42.009872; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 174.529994; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 174.529994; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; 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 = 160.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 16.00; MB_Bottom_Detect_Filter_Max_Range = 160.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 120.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; Snippet_Mode = 1; Window_Size = 200; } # ####################################################### #######################################################