# 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: SoquelCanyonRock_2v1.rte # Mission File: SoquelCanyonRock_2v1.cfg # Distance: 10179.557838 (m) # Estimated Time: 8563 (s) 2.379 (hr) # Abort Time: 11133 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 13 # Route Points: 207 # 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: 511.182052 (m) # Abort Vehicle Depth: 536.182052 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: 50 (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 -121.958963 36.860521 -119.074107 0.000000 1 # 1 -121.964306 36.840002 -266.815226 2325.635221 1 # 2 -121.972993 36.831035 -375.126709 3586.520448 1 # 3 -121.979531 36.823254 -442.129476 4628.235494 1 # 4 -121.986368 36.823525 -470.314616 5238.807043 1 # 5 -121.989227 36.821046 -495.040365 5613.763211 1 # 6 -121.990740 36.817442 -528.892253 6035.859538 1 # 7 -122.002752 36.821617 -197.105021 7203.148101 1 # 8 -121.997689 36.821497 -344.928304 7654.898066 1 # 9 -121.993206 36.821001 -460.028198 8058.562821 1 # 10 -121.989787 36.814467 -514.230225 8844.973913 1 # 11 -121.978485 36.814182 -166.905762 9853.649095 1 # 12 -121.975066 36.815218 -95.990987 10179.557838 1 # # A total of 207 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 10179.557838 #define MISSION_TIME 8563 #define MISSION_TIMEOUT 11133 #define DEPTH_MAX 511.182052 #define DEPTH_ABORT 536.182052 #define ALTITUDE_DESIRED 40.000000 #define ALTITUDE_MIN 50.000000 #define ALTITUDE_ABORT 30.000000 #define GPS_DURATION 600 #define DESCENT_DEPTH 3.000000 #define SPIRAL_DESCENT_DEPTH 0.000000 #define DESCEND_DURATION 300 #define SETPOINT_DURATION 30 #define GPSMINHITS 10 #define ASCENDRUDDER 3.000000 #define ASCENDPITCH 45.000000 #define ASCENDENDDEPTH 2.000000 #define DESCENDRUDDER 3.000000 #define DESCENDPITCH -30.000000 #define MAXCROSSTRACKERROR 30 #define RESON_DURATION 6 # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = MISSION_TIMEOUT; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = DEPTH_MAX; abortDepth = DEPTH_ABORT; minAltitude = ALTITUDE_MIN; abortAltitude = ALTITUDE_ABORT; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = ASCENDRUDDER; pitch = ASCENDPITCH; speed = MISSION_SPEED; endDepth = ASCENDENDDEPTH; } # # 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 = RESON_DURATION; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 54.480291 meters # Minimum depth: 95.822971 meters looking forward 50.000000 meters along route # Maximum depth: 95.990987 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.822971 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815218; longitude = -121.975066; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 55.838255; finalDepth = 55.822971; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.168016 # Actual altitude: 50 # Commanded vehicle depth:55.822971 # Seafloor depth:-95.990987 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 54.480291 meters # Minimum depth: 95.838255 meters looking forward 50.000000 meters along route # Maximum depth: 96.973986 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.838255 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815196; longitude = -121.975141; captureRadius = 10; duration = 54; initialDepth = 56.993778; finalDepth = 55.838255; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.168016 # Actual altitude: 50 # Commanded vehicle depth:55.838255 # Seafloor depth:-95.838255 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 54.480291 meters # Minimum depth: 96.993778 meters looking forward 50.000000 meters along route # Maximum depth: 99.146311 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.993778 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815023; longitude = -121.975710; captureRadius = 10; duration = 54; initialDepth = 59.385194; finalDepth = 56.993778; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.993778 # Seafloor depth:-96.993778 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 54.480291 meters # Minimum depth: 99.385194 meters looking forward 50.000000 meters along route # Maximum depth: 106.047946 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.385194 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814856; longitude = -121.976262; captureRadius = 10; duration = 54; initialDepth = 67.009976; finalDepth = 59.385194; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.385194 # Seafloor depth:-99.385194 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 54.480291 meters # Minimum depth: 107.009976 meters looking forward 50.000000 meters along route # Maximum depth: 124.422465 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.009976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814686; longitude = -121.976822; captureRadius = 10; duration = 54; initialDepth = 85.149049; finalDepth = 67.009976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.009976 # Seafloor depth:-107.009976 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 54.480291 meters # Minimum depth: 125.149049 meters looking forward 50.000000 meters along route # Maximum depth: 148.418680 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.149049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814516; longitude = -121.977383; captureRadius = 10; duration = 54; initialDepth = 108.539556; finalDepth = 85.149049; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.149049 # Seafloor depth:-125.149049 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 54.480291 meters # Minimum depth: 148.539556 meters looking forward 50.000000 meters along route # Maximum depth: 165.068030 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 108.539556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814346; longitude = -121.977943; captureRadius = 10; duration = 54; initialDepth = 112.376972; finalDepth = 108.539556; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:108.539556 # Seafloor depth:-148.539556 # behavior reson { duration = RESON_DURATION; 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 11 # Segment length 54.480291 meters # Minimum depth: 152.376972 meters looking forward 50.000000 meters along route # Maximum depth: 167.093905 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.376972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814182; longitude = -121.978485; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 115.711445; finalDepth = 112.376972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.52879 # Actual altitude: 54.52879 # Commanded vehicle depth:112.376972 # Seafloor depth:-166.905762 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 169.185035 meters looking forward 50.000000 meters along route # Maximum depth: 181.398904 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.711445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814184; longitude = -121.978560; captureRadius = 10; duration = 54; initialDepth = 140.719991; finalDepth = 115.711445; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.52879 # Actual altitude: 54.52879 # Commanded vehicle depth:115.711445 # Seafloor depth:-169.185035 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.12; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.81; MB_Bottom_Detect_Filter_Max_Range = 218.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.59; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 182.933410 meters looking forward 50.000000 meters along route # Maximum depth: 189.083271 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.719991 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814198; longitude = -121.979120; captureRadius = 10; duration = 54; initialDepth = 149.161102; finalDepth = 140.719991; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4735900000001 # Actual altitude: 53.4735900000001 # Commanded vehicle depth:140.719990500001 # Seafloor depth:-182.933410 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.89; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.39; MB_Bottom_Detect_Filter_Max_Range = 213.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 189.161102 meters looking forward 50.000000 meters along route # Maximum depth: 197.913606 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.161102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814212; longitude = -121.979680; captureRadius = 10; duration = 54; initialDepth = 159.569944; finalDepth = 149.161102; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2134194999994 # Actual altitude: 50 # Commanded vehicle depth:149.161102 # Seafloor depth:-189.161102 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 199.569944 meters looking forward 50.000000 meters along route # Maximum depth: 209.590933 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.569944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814226; longitude = -121.980241; captureRadius = 10; duration = 54; initialDepth = 170.872252; finalDepth = 159.569944; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:159.569944 # Seafloor depth:-199.569944 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 210.872252 meters looking forward 50.000000 meters along route # Maximum depth: 220.326678 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.872252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814241; longitude = -121.980801; captureRadius = 10; duration = 54; initialDepth = 181.561903; finalDepth = 170.872252; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.872252 # Seafloor depth:-210.872252 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 221.561903 meters looking forward 50.000000 meters along route # Maximum depth: 231.970990 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.561903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814255; longitude = -121.981362; captureRadius = 10; duration = 54; initialDepth = 192.800196; finalDepth = 181.561903; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:181.561903 # Seafloor depth:-221.561903 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 232.800196 meters looking forward 50.000000 meters along route # Maximum depth: 247.940618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 192.800196 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814269; longitude = -121.981922; captureRadius = 10; duration = 54; initialDepth = 208.607383; finalDepth = 192.800196; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:192.800196 # Seafloor depth:-232.800196 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 248.607383 meters looking forward 50.000000 meters along route # Maximum depth: 264.170563 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.607383 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814283; longitude = -121.982483; captureRadius = 10; duration = 54; initialDepth = 225.672233; finalDepth = 208.607383; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:208.607383 # Seafloor depth:-248.607383 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 265.672233 meters looking forward 50.000000 meters along route # Maximum depth: 278.999761 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 225.672233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814297; longitude = -121.983043; captureRadius = 10; duration = 54; initialDepth = 240.920404; finalDepth = 225.672233; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:225.672233 # Seafloor depth:-265.672233 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 280.920404 meters looking forward 50.000000 meters along route # Maximum depth: 294.167125 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.920404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814311; longitude = -121.983604; captureRadius = 10; duration = 54; initialDepth = 255.617774; finalDepth = 240.920404; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.920404 # Seafloor depth:-280.920404 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 295.617774 meters looking forward 50.000000 meters along route # Maximum depth: 308.942668 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.617774 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814325; longitude = -121.984164; captureRadius = 10; duration = 54; initialDepth = 270.256941; finalDepth = 255.617774; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.617774 # Seafloor depth:-295.617774 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 310.256941 meters looking forward 50.000000 meters along route # Maximum depth: 323.709504 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.256941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814340; longitude = -121.984725; captureRadius = 10; duration = 54; initialDepth = 285.237765; finalDepth = 270.256941; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:270.256941 # Seafloor depth:-310.256941 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 325.237765 meters looking forward 50.000000 meters along route # Maximum depth: 338.020008 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.237765 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814354; longitude = -121.985285; captureRadius = 10; duration = 54; initialDepth = 299.726005; finalDepth = 285.237765; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:285.237765 # Seafloor depth:-325.237765 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 339.726005 meters looking forward 50.000000 meters along route # Maximum depth: 354.775468 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.726005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814368; longitude = -121.985845; captureRadius = 10; duration = 54; initialDepth = 316.588967; finalDepth = 299.726005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.726005 # Seafloor depth:-339.726005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 356.588967 meters looking forward 50.000000 meters along route # Maximum depth: 370.719655 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.588967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814382; longitude = -121.986406; captureRadius = 10; duration = 54; initialDepth = 332.565170; finalDepth = 316.588967; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:316.588967 # Seafloor depth:-356.588967 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 372.565170 meters looking forward 50.000000 meters along route # Maximum depth: 388.083498 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.565170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814396; longitude = -121.986966; captureRadius = 10; duration = 54; initialDepth = 349.992328; finalDepth = 332.565170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:332.56517 # Seafloor depth:-372.565170 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 389.992328 meters looking forward 50.000000 meters along route # Maximum depth: 409.986115 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.992328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814410; longitude = -121.987527; captureRadius = 10; duration = 54; initialDepth = 371.677735; finalDepth = 349.992328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:349.992328 # Seafloor depth:-389.992328 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 411.677735 meters looking forward 50.000000 meters along route # Maximum depth: 432.523452 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.677735 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814425; longitude = -121.988087; captureRadius = 10; duration = 54; initialDepth = 394.884724; finalDepth = 371.677735; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.677735 # Seafloor depth:-411.677735 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 434.884724 meters looking forward 50.000000 meters along route # Maximum depth: 465.610294 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.884724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814439; longitude = -121.988648; captureRadius = 10; duration = 54; initialDepth = 419.893136; finalDepth = 394.884724; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:394.884724 # Seafloor depth:-434.884724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 54.480291 meters # Minimum depth: 470.274474 meters looking forward 50.000000 meters along route # Maximum depth: 513.368195 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.893136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814453; longitude = -121.989208; captureRadius = 10; duration = 54; initialDepth = 445.178996; finalDepth = 419.893136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3813375000006 # Actual altitude: 50.3813375000006 # Commanded vehicle depth:419.893136499999 # Seafloor depth:-470.274474 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.53; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 54.480291 meters # Minimum depth: 485.178996 meters looking forward 50.000000 meters along route # Maximum depth: 516.135173 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.178996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814467; longitude = -121.989787; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 449.476351; finalDepth = 445.178996; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.051229 # Actual altitude: 69.051229 # Commanded vehicle depth:445.178996 # Seafloor depth:-514.230225 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.62; MB_Bottom_Detect_Filter_Max_Range = 276.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.480291 meters # Minimum depth: 516.512985 meters looking forward 50.000000 meters along route # Maximum depth: 526.572880 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 449.476351 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814539; longitude = -121.989825; captureRadius = 10; duration = 54; initialDepth = 475.912481; finalDepth = 449.476351; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.051229 # Actual altitude: 69.051229 # Commanded vehicle depth:449.476351 # Seafloor depth:-516.512985 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.20; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.62; MB_Bottom_Detect_Filter_Max_Range = 276.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.480291 meters # Minimum depth: 526.779355 meters looking forward 50.000000 meters along route # Maximum depth: 533.496214 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.912481 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814978; longitude = -121.990054; captureRadius = 10; duration = 54; initialDepth = 493.713717; finalDepth = 475.912481; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0366340000003 # Actual altitude: 67.0366340000003 # Commanded vehicle depth:475.912481 # Seafloor depth:-526.779355 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.15; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.81; MB_Bottom_Detect_Filter_Max_Range = 268.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.480291 meters # Minimum depth: 533.713717 meters looking forward 50.000000 meters along route # Maximum depth: 536.662011 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.713717 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815396; longitude = -121.990273; captureRadius = 10; duration = 54; initialDepth = 496.043406; finalDepth = 493.713717; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.8668740000003 # Actual altitude: 50.8668740000003 # Commanded vehicle depth:493.713717 # Seafloor depth:-533.713717 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.35; MB_Bottom_Detect_Filter_Max_Range = 203.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.480291 meters # Minimum depth: 536.043406 meters looking forward 50.000000 meters along route # Maximum depth: 536.776917 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.043406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815834; longitude = -121.990502; captureRadius = 10; duration = 54; initialDepth = 496.182052; finalDepth = 496.043406; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.682085 # Actual altitude: 50 # Commanded vehicle depth:496.043406 # Seafloor depth:-536.725491 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 536.182052 meters looking forward 50.000000 meters along route # Maximum depth: 536.437320 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.182052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816253; longitude = -121.990721; captureRadius = 10; duration = 54; initialDepth = 494.046219; finalDepth = 496.182052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.682085 # Actual altitude: 50 # Commanded vehicle depth:496.182052 # Seafloor depth:-536.182052 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 534.046219 meters looking forward 50.000000 meters along route # Maximum depth: 536.430951 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 494.046219 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816690; longitude = -121.990950; captureRadius = 10; duration = 54; initialDepth = 491.088418; finalDepth = 494.046219; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.3847320000001 # Actual altitude: 50 # Commanded vehicle depth:494.046219 # Seafloor depth:-536.430951 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 531.088418 meters looking forward 50.000000 meters along route # Maximum depth: 533.993729 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 491.088418 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817110; longitude = -121.991170; captureRadius = 10; duration = 54; initialDepth = 489.485921; finalDepth = 491.088418; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.905311 # Actual altitude: 50 # Commanded vehicle depth:491.088418 # Seafloor depth:-533.993729 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 529.485921 meters looking forward 50.000000 meters along route # Maximum depth: 531.057178 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.485921 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817547; longitude = -121.991398; captureRadius = 10; duration = 54; initialDepth = 487.642644; finalDepth = 489.485921; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.905311 # Actual altitude: 50 # Commanded vehicle depth:489.485921 # Seafloor depth:-531.057178 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 527.642644 meters looking forward 50.000000 meters along route # Maximum depth: 529.266370 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.642644 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817966; longitude = -121.991618; captureRadius = 10; duration = 54; initialDepth = 485.178228; finalDepth = 487.642644; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.623726 # Actual altitude: 50 # Commanded vehicle depth:487.642644 # Seafloor depth:-529.266370 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 525.178228 meters looking forward 50.000000 meters along route # Maximum depth: 527.610205 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 485.178228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818403; longitude = -121.991846; captureRadius = 10; duration = 54; initialDepth = 482.111638; finalDepth = 485.178228; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.431977 # Actual altitude: 50 # Commanded vehicle depth:485.178228 # Seafloor depth:-527.610205 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 522.111638 meters looking forward 50.000000 meters along route # Maximum depth: 525.069885 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 482.111638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818823; longitude = -121.992066; captureRadius = 10; duration = 54; initialDepth = 471.644157; finalDepth = 482.111638; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.958247 # Actual altitude: 50 # Commanded vehicle depth:482.111638 # Seafloor depth:-525.069885 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 511.644157 meters looking forward 50.000000 meters along route # Maximum depth: 522.063546 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 471.644157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819259; longitude = -121.992294; captureRadius = 10; duration = 54; initialDepth = 453.700904; finalDepth = 471.644157; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.419389 # Actual altitude: 50.419389 # Commanded vehicle depth:471.644157 # Seafloor depth:-522.063546 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.17; MB_Bottom_Detect_Filter_Max_Range = 201.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.480291 meters # Minimum depth: 493.700904 meters looking forward 50.000000 meters along route # Maximum depth: 510.983396 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 453.700904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819680; longitude = -121.992515; captureRadius = 10; duration = 54; initialDepth = 438.545973; finalDepth = 453.700904; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.282492 # Actual altitude: 57.282492 # Commanded vehicle depth:453.700904 # Seafloor depth:-510.983396 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.480291 meters # Minimum depth: 478.545973 meters looking forward 50.000000 meters along route # Maximum depth: 493.362552 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 438.545973 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820115; longitude = -121.992742; captureRadius = 10; duration = 54; initialDepth = 421.406281; finalDepth = 438.545973; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.282492 # Actual altitude: 57.282492 # Commanded vehicle depth:438.545973 # Seafloor depth:-493.362552 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.13; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.91; MB_Bottom_Detect_Filter_Max_Range = 229.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 54.480291 meters # Minimum depth: 461.406281 meters looking forward 50.000000 meters along route # Maximum depth: 477.480155 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.406281 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820566; longitude = -121.992978; captureRadius = 10; duration = 54; initialDepth = 420.028198; finalDepth = 421.406281; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.073874 # Actual altitude: 56.073874 # Commanded vehicle depth:421.406281 # Seafloor depth:-477.480155 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 54.480291 meters # Minimum depth: 460.028198 meters looking forward 50.000000 meters along route # Maximum depth: 468.293025 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.028198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821001; longitude = -121.993206; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 424.278576; finalDepth = 420.028198; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.073874 # Actual altitude: 56.073874 # Commanded vehicle depth:420.028198 # Seafloor depth:-460.028198 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 224.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.43; MB_Bottom_Detect_Filter_Max_Range = 224.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 168.22; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.480291 meters # Minimum depth: 464.278576 meters looking forward 50.000000 meters along route # Maximum depth: 470.092312 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.278576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821061; longitude = -121.993749; captureRadius = 10; duration = 54; initialDepth = 394.615544; finalDepth = 424.278576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.988364 # Actual altitude: 50 # Commanded vehicle depth:424.278576 # Seafloor depth:-468.266940 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 434.615544 meters looking forward 50.000000 meters along route # Maximum depth: 462.119305 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 394.615544 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821123; longitude = -121.994308; captureRadius = 10; duration = 54; initialDepth = 360.717659; finalDepth = 394.615544; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.503761 # Actual altitude: 67.503761 # Commanded vehicle depth:394.615544 # Seafloor depth:-462.119305 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.00; MB_Bottom_Detect_Filter_Max_Range = 270.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.480291 meters # Minimum depth: 400.717659 meters looking forward 50.000000 meters along route # Maximum depth: 431.090459 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.717659 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821185; longitude = -121.994869; captureRadius = 10; duration = 54; initialDepth = 346.062646; finalDepth = 360.717659; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3728 # Actual altitude: 70.3728 # Commanded vehicle depth:360.717659 # Seafloor depth:-431.090459 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 281.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.480291 meters # Minimum depth: 386.062646 meters looking forward 50.000000 meters along route # Maximum depth: 398.334691 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 346.062646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821247; longitude = -121.995429; captureRadius = 10; duration = 54; initialDepth = 343.961086; finalDepth = 346.062646; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.3728 # Actual altitude: 70.3728 # Commanded vehicle depth:346.062646 # Seafloor depth:-398.334691 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.49; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.15; MB_Bottom_Detect_Filter_Max_Range = 281.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.480291 meters # Minimum depth: 383.961086 meters looking forward 50.000000 meters along route # Maximum depth: 386.731990 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.961086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821309; longitude = -121.995989; captureRadius = 10; duration = 54; initialDepth = 329.669652; finalDepth = 343.961086; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.272045 # Actual altitude: 52.272045 # Commanded vehicle depth:343.961086 # Seafloor depth:-385.886639 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 209.09; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.91; MB_Bottom_Detect_Filter_Max_Range = 209.09; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.480291 meters # Minimum depth: 369.669652 meters looking forward 50.000000 meters along route # Maximum depth: 384.012038 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.669652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821371; longitude = -121.996550; captureRadius = 10; duration = 54; initialDepth = 305.472038; finalDepth = 329.669652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.342386 # Actual altitude: 54.342386 # Commanded vehicle depth:329.669652 # Seafloor depth:-384.012038 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.37; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.74; MB_Bottom_Detect_Filter_Max_Range = 217.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.03; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 54.480291 meters # Minimum depth: 345.472038 meters looking forward 50.000000 meters along route # Maximum depth: 367.539096 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 305.472038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821433; longitude = -121.997110; captureRadius = 10; duration = 54; initialDepth = 287.960321; finalDepth = 305.472038; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.067058 # Actual altitude: 62.067058 # Commanded vehicle depth:305.472038 # Seafloor depth:-367.539096 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 54.480291 meters # Minimum depth: 327.960321 meters looking forward 50.000000 meters along route # Maximum depth: 344.928304 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.960321 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821497; longitude = -121.997689; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 262.084312; finalDepth = 287.960321; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.067058 # Actual altitude: 62.067058 # Commanded vehicle depth:287.960321 # Seafloor depth:-344.928304 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.27; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.83; MB_Bottom_Detect_Filter_Max_Range = 248.27; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.20; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 302.084312 meters looking forward 50.000000 meters along route # Maximum depth: 325.141759 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.084312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821510; longitude = -121.998231; captureRadius = 10; duration = 54; initialDepth = 233.609400; finalDepth = 262.084312; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.057447 # Actual altitude: 63.057447 # Commanded vehicle depth:262.084312 # Seafloor depth:-325.141759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 252.23; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.22; MB_Bottom_Detect_Filter_Max_Range = 252.23; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 189.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 273.609400 meters looking forward 50.000000 meters along route # Maximum depth: 298.184591 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.609400 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821523; longitude = -121.998792; captureRadius = 10; duration = 54; initialDepth = 205.719355; finalDepth = 233.609400; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.575191 # Actual altitude: 64.575191 # Commanded vehicle depth:233.6094 # Seafloor depth:-298.184591 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 245.719355 meters looking forward 50.000000 meters along route # Maximum depth: 268.265809 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.719355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821537; longitude = -121.999352; captureRadius = 10; duration = 54; initialDepth = 180.868890; finalDepth = 205.719355; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.575191 # Actual altitude: 64.575191 # Commanded vehicle depth:205.719355 # Seafloor depth:-268.265809 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 258.30; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.83; MB_Bottom_Detect_Filter_Max_Range = 258.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 220.868890 meters looking forward 50.000000 meters along route # Maximum depth: 244.619570 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.868890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821550; longitude = -121.999913; captureRadius = 10; duration = 54; initialDepth = 171.099736; finalDepth = 180.868890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.75068 # Actual altitude: 63.75068 # Commanded vehicle depth:180.86889 # Seafloor depth:-244.619570 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 255.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 211.099736 meters looking forward 50.000000 meters along route # Maximum depth: 231.378755 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.099736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821563; longitude = -122.000473; captureRadius = 10; duration = 54; initialDepth = 152.981975; finalDepth = 171.099736; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.75068 # Actual altitude: 63.75068 # Commanded vehicle depth:171.099736 # Seafloor depth:-230.913675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 255.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.50; MB_Bottom_Detect_Filter_Max_Range = 255.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 191.25; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 192.981975 meters looking forward 50.000000 meters along route # Maximum depth: 211.953223 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.981975 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821576; longitude = -122.001033; captureRadius = 10; duration = 54; initialDepth = 133.762159; finalDepth = 152.981975; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.813939 # Actual altitude: 59.813939 # Commanded vehicle depth:152.981975 # Seafloor depth:-211.953223 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 239.26; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.93; MB_Bottom_Detect_Filter_Max_Range = 239.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 179.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 173.762159 meters looking forward 50.000000 meters along route # Maximum depth: 189.374082 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.762159 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821590; longitude = -122.001594; captureRadius = 10; duration = 54; initialDepth = 136.960856; finalDepth = 133.762159; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.971248 # Actual altitude: 58.971248 # Commanded vehicle depth:133.762159 # Seafloor depth:-189.374082 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.88; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.59; MB_Bottom_Detect_Filter_Max_Range = 235.88; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.91; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 54.480291 meters # Minimum depth: 176.960856 meters looking forward 50.000000 meters along route # Maximum depth: 195.877657 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.960856 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821603; longitude = -122.002154; captureRadius = 10; duration = 54; initialDepth = 140.714843; finalDepth = 136.960856; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.611923 # Actual altitude: 55.611923 # Commanded vehicle depth:136.960856 # Seafloor depth:-176.960856 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.45; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.24; MB_Bottom_Detect_Filter_Max_Range = 222.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 54.480291 meters # Minimum depth: 180.714843 meters looking forward 50.000000 meters along route # Maximum depth: 197.105021 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.714843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821617; longitude = -122.002752; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 142.814232; finalDepth = 140.714843; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.390178 # Actual altitude: 56.390178 # Commanded vehicle depth:140.714843 # Seafloor depth:-197.105021 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 187.783339 meters looking forward 50.000000 meters along route # Maximum depth: 196.255600 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.814232 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821602; longitude = -122.002709; captureRadius = 10; duration = 54; initialDepth = 146.443162; finalDepth = 142.814232; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.390178 # Actual altitude: 56.390178 # Commanded vehicle depth:142.8142325 # Seafloor depth:-196.255600 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 225.56; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.56; MB_Bottom_Detect_Filter_Max_Range = 225.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.17; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 186.443162 meters looking forward 50.000000 meters along route # Maximum depth: 198.028361 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.443162 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821422; longitude = -122.002190; captureRadius = 10; duration = 54; initialDepth = 159.816574; finalDepth = 146.443162; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.4413675000003 # Actual altitude: 53.4413675000003 # Commanded vehicle depth:146.443162 # Seafloor depth:-187.538275 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 213.77; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.38; MB_Bottom_Detect_Filter_Max_Range = 213.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 160.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 199.816574 meters looking forward 50.000000 meters along route # Maximum depth: 244.018762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.816574 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821242; longitude = -122.001672; captureRadius = 10; duration = 54; initialDepth = 185.009382; finalDepth = 159.816574; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.095113 # Actual altitude: 50 # Commanded vehicle depth:159.816574 # Seafloor depth:-199.816574 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 242.564848 meters looking forward 50.000000 meters along route # Maximum depth: 269.929466 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.009382 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821061; longitude = -122.001153; captureRadius = 10; duration = 54; initialDepth = 210.202242; finalDepth = 185.009382; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.0485700000002 # Actual altitude: 59.0485700000002 # Commanded vehicle depth:185.009382 # Seafloor depth:-244.057952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 236.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.62; MB_Bottom_Detect_Filter_Max_Range = 236.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 270.588828 meters looking forward 50.000000 meters along route # Maximum depth: 296.145194 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.202242 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820881; longitude = -122.000635; captureRadius = 10; duration = 54; initialDepth = 235.395155; finalDepth = 210.202242; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.3865855000004 # Actual altitude: 60.3865855000004 # Commanded vehicle depth:210.2022425 # Seafloor depth:-270.588828 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.55; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.15; MB_Bottom_Detect_Filter_Max_Range = 241.55; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 181.16; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 297.346523 meters looking forward 50.000000 meters along route # Maximum depth: 312.940310 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.395155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820701; longitude = -122.000116; captureRadius = 10; duration = 54; initialDepth = 260.588120; finalDepth = 235.395155; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9513675000001 # Actual altitude: 61.9513675000001 # Commanded vehicle depth:235.3951555 # Seafloor depth:-297.346523 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 314.389296 meters looking forward 50.000000 meters along route # Maximum depth: 338.438595 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 260.588120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820521; longitude = -121.999598; captureRadius = 10; duration = 54; initialDepth = 285.781137; finalDepth = 260.588120; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.9513675000001 # Actual altitude: 61.9513675000001 # Commanded vehicle depth:260.58812 # Seafloor depth:-314.389296 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.81; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.78; MB_Bottom_Detect_Filter_Max_Range = 247.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 341.447302 meters looking forward 50.000000 meters along route # Maximum depth: 360.525509 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.781137 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820340; longitude = -121.999079; captureRadius = 10; duration = 54; initialDepth = 310.974207; finalDepth = 285.781137; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6661645000003 # Actual altitude: 55.6661645000003 # Commanded vehicle depth:285.7811375 # Seafloor depth:-341.447302 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 360.690028 meters looking forward 50.000000 meters along route # Maximum depth: 377.626338 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.974207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820160; longitude = -121.998561; captureRadius = 10; duration = 54; initialDepth = 336.167328; finalDepth = 310.974207; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6661645000003 # Actual altitude: 55.6661645000003 # Commanded vehicle depth:310.974207 # Seafloor depth:-360.690028 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.66; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.27; MB_Bottom_Detect_Filter_Max_Range = 222.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 167.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 378.647371 meters looking forward 50.000000 meters along route # Maximum depth: 395.503640 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.167328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819980; longitude = -121.998042; captureRadius = 10; duration = 54; initialDepth = 356.207860; finalDepth = 336.167328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.7158210000002 # Actual altitude: 50 # Commanded vehicle depth:336.1673285 # Seafloor depth:-378.647371 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 396.207860 meters looking forward 50.000000 meters along route # Maximum depth: 402.163221 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 356.207860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819800; longitude = -121.997524; captureRadius = 10; duration = 54; initialDepth = 363.236598; finalDepth = 356.207860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.4800425000003 # Actual altitude: 50 # Commanded vehicle depth:356.20786 # Seafloor depth:-396.207860 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 403.236598 meters looking forward 50.000000 meters along route # Maximum depth: 417.817527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 363.236598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819619; longitude = -121.997005; captureRadius = 10; duration = 54; initialDepth = 377.970005; finalDepth = 363.236598; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:363.236598 # Seafloor depth:-403.236598 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 417.970005 meters looking forward 50.000000 meters along route # Maximum depth: 430.714768 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.970005 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819439; longitude = -121.996487; captureRadius = 10; duration = 54; initialDepth = 391.402253; finalDepth = 377.970005; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.970005 # Seafloor depth:-417.970005 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 431.402253 meters looking forward 50.000000 meters along route # Maximum depth: 448.741181 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 391.402253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819259; longitude = -121.995968; captureRadius = 10; duration = 54; initialDepth = 410.251882; finalDepth = 391.402253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:391.402253 # Seafloor depth:-431.402253 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 450.251882 meters looking forward 50.000000 meters along route # Maximum depth: 472.574895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 410.251882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819079; longitude = -121.995450; captureRadius = 10; duration = 54; initialDepth = 434.612436; finalDepth = 410.251882; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:410.251882 # Seafloor depth:-450.251882 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 474.612436 meters looking forward 50.000000 meters along route # Maximum depth: 494.008467 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.612436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818898; longitude = -121.994931; captureRadius = 10; duration = 54; initialDepth = 454.337530; finalDepth = 434.612436; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:434.612436 # Seafloor depth:-474.612436 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 494.337530 meters looking forward 50.000000 meters along route # Maximum depth: 514.483676 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.337530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818718; longitude = -121.994413; captureRadius = 10; duration = 54; initialDepth = 475.031675; finalDepth = 454.337530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:454.33753 # Seafloor depth:-494.337530 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 515.031675 meters looking forward 50.000000 meters along route # Maximum depth: 524.040816 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 475.031675 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818538; longitude = -121.993894; captureRadius = 10; duration = 54; initialDepth = 484.412994; finalDepth = 475.031675; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:475.031675 # Seafloor depth:-515.031675 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 524.412994 meters looking forward 50.000000 meters along route # Maximum depth: 526.924741 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.412994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818358; longitude = -121.993376; captureRadius = 10; duration = 54; initialDepth = 487.208666; finalDepth = 484.412994; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:484.412994 # Seafloor depth:-524.412994 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 527.208666 meters looking forward 50.000000 meters along route # Maximum depth: 529.565762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 487.208666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818178; longitude = -121.992857; captureRadius = 10; duration = 54; initialDepth = 489.631244; finalDepth = 487.208666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:487.208666 # Seafloor depth:-527.208666 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 529.631244 meters looking forward 50.000000 meters along route # Maximum depth: 530.771916 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.631244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817997; longitude = -121.992339; captureRadius = 10; duration = 54; initialDepth = 490.209117; finalDepth = 489.631244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:489.631244 # Seafloor depth:-529.631244 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 530.209117 meters looking forward 50.000000 meters along route # Maximum depth: 531.105076 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 490.209117 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817817; longitude = -121.991820; captureRadius = 10; duration = 54; initialDepth = 489.192221; finalDepth = 490.209117; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.613308 # Actual altitude: 50 # Commanded vehicle depth:490.209117 # Seafloor depth:-530.822425 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 54.480291 meters # Minimum depth: 529.192221 meters looking forward 50.000000 meters along route # Maximum depth: 530.171974 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.192221 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817630; longitude = -121.991282; captureRadius = 10; duration = 54; initialDepth = 488.892253; finalDepth = 489.192221; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.940734 # Actual altitude: 50 # Commanded vehicle depth:489.192221 # Seafloor depth:-530.132955 # behavior reson { duration = RESON_DURATION; 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 6 # Segment length 54.480291 meters # Minimum depth: 528.892253 meters looking forward 50.000000 meters along route # Maximum depth: 530.171974 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 488.892253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817442; longitude = -121.990740; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 484.340096; finalDepth = 488.892253; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.940734 # Actual altitude: 50 # Commanded vehicle depth:488.892253 # Seafloor depth:-528.892253 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 524.340096 meters looking forward 50.000000 meters along route # Maximum depth: 528.733980 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 484.340096 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817457; longitude = -121.990734; captureRadius = 10; duration = 54; initialDepth = 479.925089; finalDepth = 484.340096; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.393884 # Actual altitude: 50 # Commanded vehicle depth:484.340096 # Seafloor depth:-528.733980 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 519.925089 meters looking forward 50.000000 meters along route # Maximum depth: 524.069474 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 479.925089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817907; longitude = -121.990544; captureRadius = 10; duration = 54; initialDepth = 477.213352; finalDepth = 479.925089; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.393884 # Actual altitude: 50 # Commanded vehicle depth:479.925089 # Seafloor depth:-524.069474 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 517.213352 meters looking forward 50.000000 meters along route # Maximum depth: 519.603359 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 477.213352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818358; longitude = -121.990355; captureRadius = 10; duration = 54; initialDepth = 472.640195; finalDepth = 477.213352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.1443850000001 # Actual altitude: 50 # Commanded vehicle depth:477.213352 # Seafloor depth:-519.603359 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 512.640195 meters looking forward 50.000000 meters along route # Maximum depth: 517.124907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 472.640195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818821; longitude = -121.990161; captureRadius = 10; duration = 54; initialDepth = 467.963966; finalDepth = 472.640195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.4847120000001 # Actual altitude: 50 # Commanded vehicle depth:472.640195 # Seafloor depth:-517.124907 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 507.963966 meters looking forward 50.000000 meters along route # Maximum depth: 512.170298 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.963966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819259; longitude = -121.989977; captureRadius = 10; duration = 54; initialDepth = 463.025664; finalDepth = 467.963966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.4847120000001 # Actual altitude: 50 # Commanded vehicle depth:467.963966 # Seafloor depth:-512.170298 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 503.025664 meters looking forward 50.000000 meters along route # Maximum depth: 507.371097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 463.025664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819710; longitude = -121.989788; captureRadius = 10; duration = 54; initialDepth = 458.836104; finalDepth = 463.025664; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.345433 # Actual altitude: 50 # Commanded vehicle depth:463.025664 # Seafloor depth:-507.371097 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 498.836104 meters looking forward 50.000000 meters along route # Maximum depth: 502.974486 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 458.836104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820160; longitude = -121.989599; captureRadius = 10; duration = 54; initialDepth = 454.958399; finalDepth = 458.836104; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.345433 # Actual altitude: 50 # Commanded vehicle depth:458.836104 # Seafloor depth:-502.974486 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 494.958399 meters looking forward 50.000000 meters along route # Maximum depth: 498.418727 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.958399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820611; longitude = -121.989410; captureRadius = 10; duration = 54; initialDepth = 454.478313; finalDepth = 454.958399; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.138382 # Actual altitude: 50 # Commanded vehicle depth:454.958399 # Seafloor depth:-498.418727 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 494.478313 meters looking forward 50.000000 meters along route # Maximum depth: 497.313850 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 454.478313 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821046; longitude = -121.989227; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 450.777950; finalDepth = 454.478313; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.460328 # Actual altitude: 50 # Commanded vehicle depth:454.478313 # Seafloor depth:-495.040365 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 490.777950 meters looking forward 50.000000 meters along route # Maximum depth: 494.406528 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.777950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821111; longitude = -121.989152; captureRadius = 10; duration = 54; initialDepth = 447.101541; finalDepth = 450.777950; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.628578 # Actual altitude: 50 # Commanded vehicle depth:450.77795 # Seafloor depth:-494.406528 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 487.101541 meters looking forward 50.000000 meters along route # Maximum depth: 490.597644 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.101541 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821451; longitude = -121.988760; captureRadius = 10; duration = 54; initialDepth = 444.347870; finalDepth = 447.101541; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.628578 # Actual altitude: 50 # Commanded vehicle depth:447.101541 # Seafloor depth:-490.597644 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 484.347870 meters looking forward 50.000000 meters along route # Maximum depth: 487.009895 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 444.347870 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821792; longitude = -121.988367; captureRadius = 10; duration = 54; initialDepth = 440.040283; finalDepth = 444.347870; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.496103 # Actual altitude: 50 # Commanded vehicle depth:444.34787 # Seafloor depth:-487.009895 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 480.040283 meters looking forward 50.000000 meters along route # Maximum depth: 483.728873 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.040283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822132; longitude = -121.987975; captureRadius = 10; duration = 54; initialDepth = 437.017640; finalDepth = 440.040283; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.68859 # Actual altitude: 50 # Commanded vehicle depth:440.040283 # Seafloor depth:-483.728873 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 477.017640 meters looking forward 50.000000 meters along route # Maximum depth: 479.817807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 437.017640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822472; longitude = -121.987583; captureRadius = 10; duration = 54; initialDepth = 433.986249; finalDepth = 437.017640; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.68859 # Actual altitude: 50 # Commanded vehicle depth:437.01764 # Seafloor depth:-479.817807 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 473.986249 meters looking forward 50.000000 meters along route # Maximum depth: 476.945081 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 433.986249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822819; longitude = -121.987183; captureRadius = 10; duration = 54; initialDepth = 430.547299; finalDepth = 433.986249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.958832 # Actual altitude: 50 # Commanded vehicle depth:433.986249 # Seafloor depth:-476.945081 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 470.547299 meters looking forward 50.000000 meters along route # Maximum depth: 473.754764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.547299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823179; longitude = -121.986767; captureRadius = 10; duration = 54; initialDepth = 430.314616; finalDepth = 430.547299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.207465 # Actual altitude: 50 # Commanded vehicle depth:430.547299 # Seafloor depth:-473.754764 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 470.314616 meters looking forward 50.000000 meters along route # Maximum depth: 472.834710 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 430.314616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823525; longitude = -121.986368; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 428.612249; finalDepth = 430.314616; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.207465 # Actual altitude: 50 # Commanded vehicle depth:430.314616 # Seafloor depth:-470.314616 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 468.612249 meters looking forward 50.000000 meters along route # Maximum depth: 470.263504 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 428.612249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823522; longitude = -121.986294; captureRadius = 10; duration = 54; initialDepth = 424.061920; finalDepth = 428.612249; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.651255 # Actual altitude: 50 # Commanded vehicle depth:428.612249 # Seafloor depth:-470.263504 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 464.061920 meters looking forward 50.000000 meters along route # Maximum depth: 468.381127 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.061920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823500; longitude = -121.985733; captureRadius = 10; duration = 54; initialDepth = 420.906024; finalDepth = 424.061920; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.319207 # Actual altitude: 50 # Commanded vehicle depth:424.06192 # Seafloor depth:-468.381127 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 460.906024 meters looking forward 50.000000 meters along route # Maximum depth: 463.244818 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.906024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823478; longitude = -121.985173; captureRadius = 10; duration = 54; initialDepth = 418.648837; finalDepth = 420.906024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.319207 # Actual altitude: 50 # Commanded vehicle depth:420.906024 # Seafloor depth:-463.244818 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 458.648837 meters looking forward 50.000000 meters along route # Maximum depth: 460.974967 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.648837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823455; longitude = -121.984612; captureRadius = 10; duration = 54; initialDepth = 418.208020; finalDepth = 418.648837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.338794 # Actual altitude: 50 # Commanded vehicle depth:418.648837 # Seafloor depth:-460.974967 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 458.208020 meters looking forward 50.000000 meters along route # Maximum depth: 458.739949 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 418.208020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823433; longitude = -121.984052; captureRadius = 10; duration = 54; initialDepth = 412.125468; finalDepth = 418.208020; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.32613 # Actual altitude: 50 # Commanded vehicle depth:418.20802 # Seafloor depth:-458.739949 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 452.125468 meters looking forward 50.000000 meters along route # Maximum depth: 457.801467 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.125468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823411; longitude = -121.983492; captureRadius = 10; duration = 54; initialDepth = 412.076132; finalDepth = 412.125468; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.675999 # Actual altitude: 50 # Commanded vehicle depth:412.125468 # Seafloor depth:-457.801467 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 452.076132 meters looking forward 50.000000 meters along route # Maximum depth: 452.802127 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 412.076132 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823389; longitude = -121.982931; captureRadius = 10; duration = 54; initialDepth = 411.832191; finalDepth = 412.076132; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.675999 # Actual altitude: 50 # Commanded vehicle depth:412.076132 # Seafloor depth:-452.076132 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 451.832191 meters looking forward 50.000000 meters along route # Maximum depth: 452.775052 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 411.832191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823367; longitude = -121.982371; captureRadius = 10; duration = 54; initialDepth = 409.860964; finalDepth = 411.832191; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.649075 # Actual altitude: 50 # Commanded vehicle depth:411.832191 # Seafloor depth:-452.481266 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 449.860964 meters looking forward 50.000000 meters along route # Maximum depth: 452.174316 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.860964 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823345; longitude = -121.981810; captureRadius = 10; duration = 54; initialDepth = 409.283534; finalDepth = 409.860964; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.313352 # Actual altitude: 50 # Commanded vehicle depth:409.860964 # Seafloor depth:-452.174316 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 449.283534 meters looking forward 50.000000 meters along route # Maximum depth: 450.267982 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.283534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823322; longitude = -121.981250; captureRadius = 10; duration = 54; initialDepth = 406.719262; finalDepth = 409.283534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.313352 # Actual altitude: 50 # Commanded vehicle depth:409.283534 # Seafloor depth:-450.072036 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 446.719262 meters looking forward 50.000000 meters along route # Maximum depth: 449.027211 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.719262 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823300; longitude = -121.980689; captureRadius = 10; duration = 54; initialDepth = 402.466133; finalDepth = 406.719262; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.307949 # Actual altitude: 50 # Commanded vehicle depth:406.719262 # Seafloor depth:-449.027211 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 442.466133 meters looking forward 50.000000 meters along route # Maximum depth: 446.373393 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.466133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823278; longitude = -121.980129; captureRadius = 10; duration = 54; initialDepth = 400.952734; finalDepth = 402.466133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.90726 # Actual altitude: 50 # Commanded vehicle depth:402.466133 # Seafloor depth:-446.373393 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 440.952734 meters looking forward 50.000000 meters along route # Maximum depth: 443.181500 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.952734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823254; longitude = -121.979531; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 398.209268; finalDepth = 400.952734; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.90726 # Actual altitude: 50 # Commanded vehicle depth:400.952734 # Seafloor depth:-442.129476 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 438.209268 meters looking forward 50.000000 meters along route # Maximum depth: 440.788487 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.209268 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823495; longitude = -121.979329; captureRadius = 10; duration = 54; initialDepth = 395.796069; finalDepth = 398.209268; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.579219 # Actual altitude: 50 # Commanded vehicle depth:398.209268 # Seafloor depth:-440.788487 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 435.796069 meters looking forward 50.000000 meters along route # Maximum depth: 438.082821 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 395.796069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823900; longitude = -121.978988; captureRadius = 10; duration = 54; initialDepth = 392.734388; finalDepth = 395.796069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.579219 # Actual altitude: 50 # Commanded vehicle depth:395.796069 # Seafloor depth:-438.082821 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 432.734388 meters looking forward 50.000000 meters along route # Maximum depth: 435.666501 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.734388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824277; longitude = -121.978672; captureRadius = 10; duration = 54; initialDepth = 389.697841; finalDepth = 392.734388; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.932113 # Actual altitude: 50 # Commanded vehicle depth:392.734388 # Seafloor depth:-435.666501 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 429.697841 meters looking forward 50.000000 meters along route # Maximum depth: 432.788840 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 389.697841 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824677; longitude = -121.978335; captureRadius = 10; duration = 54; initialDepth = 388.332458; finalDepth = 389.697841; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.090999 # Actual altitude: 50 # Commanded vehicle depth:389.697841 # Seafloor depth:-432.788840 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 428.332458 meters looking forward 50.000000 meters along route # Maximum depth: 429.648352 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.332458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825077; longitude = -121.977999; captureRadius = 10; duration = 54; initialDepth = 386.788031; finalDepth = 388.332458; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.090999 # Actual altitude: 50 # Commanded vehicle depth:388.332458 # Seafloor depth:-429.648352 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 426.788031 meters looking forward 50.000000 meters along route # Maximum depth: 428.050629 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 386.788031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825478; longitude = -121.977663; captureRadius = 10; duration = 54; initialDepth = 384.565847; finalDepth = 386.788031; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.315894 # Actual altitude: 50 # Commanded vehicle depth:386.788031 # Seafloor depth:-428.050629 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 424.565847 meters looking forward 50.000000 meters along route # Maximum depth: 426.780212 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 384.565847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825883; longitude = -121.977322; captureRadius = 10; duration = 54; initialDepth = 383.665645; finalDepth = 384.565847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.214365 # Actual altitude: 50 # Commanded vehicle depth:384.565847 # Seafloor depth:-426.780212 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 423.665645 meters looking forward 50.000000 meters along route # Maximum depth: 425.142777 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 383.665645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826289; longitude = -121.976981; captureRadius = 10; duration = 54; initialDepth = 380.630361; finalDepth = 383.665645; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.214365 # Actual altitude: 50 # Commanded vehicle depth:383.665645 # Seafloor depth:-425.142777 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 420.630361 meters looking forward 50.000000 meters along route # Maximum depth: 423.575207 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.630361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826694; longitude = -121.976640; captureRadius = 10; duration = 54; initialDepth = 379.271143; finalDepth = 380.630361; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.944846 # Actual altitude: 50 # Commanded vehicle depth:380.630361 # Seafloor depth:-423.575207 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 419.271143 meters looking forward 50.000000 meters along route # Maximum depth: 420.502689 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.271143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827100; longitude = -121.976300; captureRadius = 10; duration = 54; initialDepth = 375.940081; finalDepth = 379.271143; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.944846 # Actual altitude: 50 # Commanded vehicle depth:379.271143 # Seafloor depth:-420.487522 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 415.940081 meters looking forward 50.000000 meters along route # Maximum depth: 419.108936 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.940081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827478; longitude = -121.975982; captureRadius = 10; duration = 54; initialDepth = 374.810122; finalDepth = 375.940081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.168855 # Actual altitude: 50 # Commanded vehicle depth:375.940081 # Seafloor depth:-419.108936 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 414.810122 meters looking forward 50.000000 meters along route # Maximum depth: 416.157535 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.810122 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827878; longitude = -121.975645; captureRadius = 10; duration = 54; initialDepth = 371.171459; finalDepth = 374.810122; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.168855 # Actual altitude: 50 # Commanded vehicle depth:374.810122 # Seafloor depth:-415.930741 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 411.171459 meters looking forward 50.000000 meters along route # Maximum depth: 414.814874 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.171459 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828279; longitude = -121.975309; captureRadius = 10; duration = 54; initialDepth = 364.777380; finalDepth = 371.171459; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.6434149999999 # Actual altitude: 50 # Commanded vehicle depth:371.171459 # Seafloor depth:-414.814874 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 404.777380 meters looking forward 50.000000 meters along route # Maximum depth: 411.113188 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.777380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828679; longitude = -121.974973; captureRadius = 10; duration = 54; initialDepth = 360.068506; finalDepth = 364.777380; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.335808 # Actual altitude: 50 # Commanded vehicle depth:364.77738 # Seafloor depth:-411.113188 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 400.068506 meters looking forward 50.000000 meters along route # Maximum depth: 404.750820 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.068506 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829082; longitude = -121.974633; captureRadius = 10; duration = 54; initialDepth = 354.938733; finalDepth = 360.068506; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.335808 # Actual altitude: 50 # Commanded vehicle depth:360.068506 # Seafloor depth:-404.750820 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 394.938733 meters looking forward 50.000000 meters along route # Maximum depth: 399.967674 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 354.938733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829488; longitude = -121.974293; captureRadius = 10; duration = 54; initialDepth = 349.124888; finalDepth = 354.938733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.028941 # Actual altitude: 50 # Commanded vehicle depth:354.938733 # Seafloor depth:-399.967674 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 389.124888 meters looking forward 50.000000 meters along route # Maximum depth: 394.751605 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 349.124888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829894; longitude = -121.973952; captureRadius = 10; duration = 54; initialDepth = 342.659174; finalDepth = 349.124888; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.626717 # Actual altitude: 50 # Commanded vehicle depth:349.124888 # Seafloor depth:-394.751605 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 382.659174 meters looking forward 50.000000 meters along route # Maximum depth: 388.659773 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.659174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830279; longitude = -121.973628; captureRadius = 10; duration = 54; initialDepth = 335.419497; finalDepth = 342.659174; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.000599 # Actual altitude: 50 # Commanded vehicle depth:342.659174 # Seafloor depth:-388.659773 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 375.419497 meters looking forward 50.000000 meters along route # Maximum depth: 381.793019 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.419497 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830660; longitude = -121.973308; captureRadius = 10; duration = 54; initialDepth = 331.002588; finalDepth = 335.419497; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.373522 # Actual altitude: 50 # Commanded vehicle depth:335.419497 # Seafloor depth:-381.793019 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 371.002588 meters looking forward 50.000000 meters along route # Maximum depth: 375.563771 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.002588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831035; longitude = -121.972993; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 327.199972; finalDepth = 331.002588; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.373522 # Actual altitude: 50 # Commanded vehicle depth:331.002588 # Seafloor depth:-375.126709 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 367.199972 meters looking forward 50.000000 meters along route # Maximum depth: 370.596536 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.199972 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831336; longitude = -121.972701; captureRadius = 10; duration = 54; initialDepth = 323.269688; finalDepth = 327.199972; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.124121 # Actual altitude: 50 # Commanded vehicle depth:327.199972 # Seafloor depth:-370.596536 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 363.269688 meters looking forward 50.000000 meters along route # Maximum depth: 367.010701 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.269688 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831696; longitude = -121.972352; captureRadius = 10; duration = 54; initialDepth = 320.513386; finalDepth = 323.269688; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.741013 # Actual altitude: 50 # Commanded vehicle depth:323.269688 # Seafloor depth:-367.010701 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 360.513386 meters looking forward 50.000000 meters along route # Maximum depth: 363.256776 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.513386 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832057; longitude = -121.972002; captureRadius = 10; duration = 54; initialDepth = 315.457067; finalDepth = 320.513386; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.741013 # Actual altitude: 50 # Commanded vehicle depth:320.513386 # Seafloor depth:-363.256776 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 355.457067 meters looking forward 50.000000 meters along route # Maximum depth: 360.285329 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.457067 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832417; longitude = -121.971654; captureRadius = 10; duration = 54; initialDepth = 311.785152; finalDepth = 315.457067; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.828262 # Actual altitude: 50 # Commanded vehicle depth:315.457067 # Seafloor depth:-360.285329 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 351.785152 meters looking forward 50.000000 meters along route # Maximum depth: 355.216760 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.785152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832778; longitude = -121.971305; captureRadius = 10; duration = 54; initialDepth = 306.631134; finalDepth = 311.785152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.828262 # Actual altitude: 50 # Commanded vehicle depth:311.785152 # Seafloor depth:-355.216760 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 346.631134 meters looking forward 50.000000 meters along route # Maximum depth: 351.177807 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.631134 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833138; longitude = -121.970955; captureRadius = 10; duration = 54; initialDepth = 302.413260; finalDepth = 306.631134; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.546673 # Actual altitude: 50 # Commanded vehicle depth:306.631134 # Seafloor depth:-351.177807 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 342.413260 meters looking forward 50.000000 meters along route # Maximum depth: 346.415704 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.413260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833499; longitude = -121.970606; captureRadius = 10; duration = 54; initialDepth = 299.997604; finalDepth = 302.413260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.546673 # Actual altitude: 50 # Commanded vehicle depth:302.41326 # Seafloor depth:-346.415704 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 339.997604 meters looking forward 50.000000 meters along route # Maximum depth: 342.338020 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.997604 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833859; longitude = -121.970257; captureRadius = 10; duration = 54; initialDepth = 297.362098; finalDepth = 299.997604; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.002444 # Actual altitude: 50 # Commanded vehicle depth:299.997604 # Seafloor depth:-342.338020 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 337.362098 meters looking forward 50.000000 meters along route # Maximum depth: 339.828859 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.362098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834219; longitude = -121.969908; captureRadius = 10; duration = 54; initialDepth = 291.694779; finalDepth = 297.362098; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.466761 # Actual altitude: 50 # Commanded vehicle depth:297.362098 # Seafloor depth:-339.828859 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 331.694779 meters looking forward 50.000000 meters along route # Maximum depth: 336.824643 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 291.694779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834580; longitude = -121.969558; captureRadius = 10; duration = 54; initialDepth = 284.806810; finalDepth = 291.694779; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.129864 # Actual altitude: 50 # Commanded vehicle depth:291.694779 # Seafloor depth:-336.824643 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 324.806810 meters looking forward 50.000000 meters along route # Maximum depth: 330.830158 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.806810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834940; longitude = -121.969209; captureRadius = 10; duration = 54; initialDepth = 282.192284; finalDepth = 284.806810; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.023348 # Actual altitude: 50 # Commanded vehicle depth:284.80681 # Seafloor depth:-330.830158 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 322.192284 meters looking forward 50.000000 meters along route # Maximum depth: 324.744650 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.192284 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835301; longitude = -121.968860; captureRadius = 10; duration = 54; initialDepth = 281.605881; finalDepth = 282.192284; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.023348 # Actual altitude: 50 # Commanded vehicle depth:282.192284 # Seafloor depth:-324.744650 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 321.605881 meters looking forward 50.000000 meters along route # Maximum depth: 322.807292 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.605881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835661; longitude = -121.968511; captureRadius = 10; duration = 54; initialDepth = 279.695573; finalDepth = 281.605881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.552366 # Actual altitude: 50 # Commanded vehicle depth:281.605881 # Seafloor depth:-322.166726 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 319.695573 meters looking forward 50.000000 meters along route # Maximum depth: 321.962376 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.695573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836022; longitude = -121.968162; captureRadius = 10; duration = 54; initialDepth = 271.927408; finalDepth = 279.695573; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.266803 # Actual altitude: 50 # Commanded vehicle depth:279.695573 # Seafloor depth:-321.962376 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 311.927408 meters looking forward 50.000000 meters along route # Maximum depth: 318.936749 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.927408 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836382; longitude = -121.967812; captureRadius = 10; duration = 54; initialDepth = 266.483566; finalDepth = 271.927408; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.009341 # Actual altitude: 50 # Commanded vehicle depth:271.927408 # Seafloor depth:-318.936749 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 306.483566 meters looking forward 50.000000 meters along route # Maximum depth: 311.918527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 266.483566 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836743; longitude = -121.967463; captureRadius = 10; duration = 54; initialDepth = 261.136751; finalDepth = 266.483566; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.009341 # Actual altitude: 50 # Commanded vehicle depth:266.483566 # Seafloor depth:-311.918527 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 301.136751 meters looking forward 50.000000 meters along route # Maximum depth: 306.376586 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 261.136751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837103; longitude = -121.967114; captureRadius = 10; duration = 54; initialDepth = 256.574583; finalDepth = 261.136751; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.434961 # Actual altitude: 50 # Commanded vehicle depth:261.136751 # Seafloor depth:-306.376586 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 296.574583 meters looking forward 50.000000 meters along route # Maximum depth: 300.704482 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.574583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837464; longitude = -121.966765; captureRadius = 10; duration = 54; initialDepth = 253.243860; finalDepth = 256.574583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.239835 # Actual altitude: 50 # Commanded vehicle depth:256.574583 # Seafloor depth:-300.704482 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 293.243860 meters looking forward 50.000000 meters along route # Maximum depth: 296.572531 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.243860 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837824; longitude = -121.966415; captureRadius = 10; duration = 54; initialDepth = 250.108974; finalDepth = 253.243860; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.129899 # Actual altitude: 50 # Commanded vehicle depth:253.24386 # Seafloor depth:-296.572531 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 290.108974 meters looking forward 50.000000 meters along route # Maximum depth: 293.171040 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.108974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838190; longitude = -121.966062; captureRadius = 10; duration = 54; initialDepth = 245.944217; finalDepth = 250.108974; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.328671 # Actual altitude: 50 # Commanded vehicle depth:250.108974 # Seafloor depth:-293.171040 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 285.944217 meters looking forward 50.000000 meters along route # Maximum depth: 290.103978 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.944217 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838545; longitude = -121.965717; captureRadius = 10; duration = 54; initialDepth = 244.053619; finalDepth = 245.944217; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.061472 # Actual altitude: 50 # Commanded vehicle depth:245.944217 # Seafloor depth:-290.005689 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 284.053619 meters looking forward 50.000000 meters along route # Maximum depth: 286.147625 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.053619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838906; longitude = -121.965368; captureRadius = 10; duration = 54; initialDepth = 238.091297; finalDepth = 244.053619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.061472 # Actual altitude: 50 # Commanded vehicle depth:244.053619 # Seafloor depth:-285.832295 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 278.091297 meters looking forward 50.000000 meters along route # Maximum depth: 282.743336 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.091297 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839266; longitude = -121.965019; captureRadius = 10; duration = 54; initialDepth = 226.924166; finalDepth = 238.091297; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.652039 # Actual altitude: 50 # Commanded vehicle depth:238.091297 # Seafloor depth:-282.743336 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 266.924166 meters looking forward 50.000000 meters along route # Maximum depth: 277.885439 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.924166 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839636; longitude = -121.964661; captureRadius = 10; duration = 54; initialDepth = 222.738285; finalDepth = 226.924166; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.961273 # Actual altitude: 50.961273 # Commanded vehicle depth:226.924166 # Seafloor depth:-277.885439 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 54.480291 meters # Minimum depth: 262.738285 meters looking forward 50.000000 meters along route # Maximum depth: 274.102679 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.738285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840002; longitude = -121.964306; captureRadius = 10; duration = 54; # abortOnTimeout = True; initialDepth = 212.496534; finalDepth = 222.738285; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.961273 # Actual altitude: 50.961273 # Commanded vehicle depth:222.738285 # Seafloor depth:-266.815226 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.85; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.38; MB_Bottom_Detect_Filter_Max_Range = 203.85; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.88; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.480291 meters # Minimum depth: 252.496534 meters looking forward 50.000000 meters along route # Maximum depth: 264.139260 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.496534 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840213; longitude = -121.964251; captureRadius = 10; duration = 54; initialDepth = 214.977847; finalDepth = 212.496534; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.642726 # Actual altitude: 51.642726 # Commanded vehicle depth:212.496534 # Seafloor depth:-264.139260 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.480291 meters # Minimum depth: 254.977847 meters looking forward 50.000000 meters along route # Maximum depth: 262.070577 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.977847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840663; longitude = -121.964133; captureRadius = 10; duration = 54; initialDepth = 221.561272; finalDepth = 214.977847; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.642726 # Actual altitude: 51.642726 # Commanded vehicle depth:214.977847 # Seafloor depth:-255.434108 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.57; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.66; MB_Bottom_Detect_Filter_Max_Range = 206.57; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 54.480291 meters # Minimum depth: 261.561272 meters looking forward 50.000000 meters along route # Maximum depth: 263.302764 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.561272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841114; longitude = -121.964016; captureRadius = 10; duration = 54; initialDepth = 221.648804; finalDepth = 221.561272; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.456261 # Actual altitude: 50 # Commanded vehicle depth:221.561272 # Seafloor depth:-261.561272 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 261.648804 meters looking forward 50.000000 meters along route # Maximum depth: 263.326514 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.648804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841565; longitude = -121.963899; captureRadius = 10; duration = 54; initialDepth = 219.901480; finalDepth = 221.648804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.253505 # Actual altitude: 50 # Commanded vehicle depth:221.648804 # Seafloor depth:-262.902309 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 259.901480 meters looking forward 50.000000 meters along route # Maximum depth: 262.387721 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.901480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842015; longitude = -121.963781; captureRadius = 10; duration = 54; initialDepth = 215.499085; finalDepth = 219.901480; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.985663 # Actual altitude: 50 # Commanded vehicle depth:219.90148 # Seafloor depth:-261.887143 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 255.499085 meters looking forward 50.000000 meters along route # Maximum depth: 259.937357 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.499085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842466; longitude = -121.963664; captureRadius = 10; duration = 54; initialDepth = 211.420295; finalDepth = 215.499085; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.438272 # Actual altitude: 50 # Commanded vehicle depth:215.499085 # Seafloor depth:-259.937357 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 251.420295 meters looking forward 50.000000 meters along route # Maximum depth: 255.679314 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.420295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842916; longitude = -121.963547; captureRadius = 10; duration = 54; initialDepth = 208.910723; finalDepth = 211.420295; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.438272 # Actual altitude: 50 # Commanded vehicle depth:211.420295 # Seafloor depth:-255.679314 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 248.910723 meters looking forward 50.000000 meters along route # Maximum depth: 251.368178 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.910723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843374; longitude = -121.963428; captureRadius = 10; duration = 54; initialDepth = 206.870576; finalDepth = 208.910723; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.259019 # Actual altitude: 50 # Commanded vehicle depth:208.910723 # Seafloor depth:-251.368178 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 246.870576 meters looking forward 50.000000 meters along route # Maximum depth: 249.149259 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.870576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843818; longitude = -121.963312; captureRadius = 10; duration = 54; initialDepth = 203.535236; finalDepth = 206.870576; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.457455 # Actual altitude: 50 # Commanded vehicle depth:206.870576 # Seafloor depth:-248.707517 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 243.535236 meters looking forward 50.000000 meters along route # Maximum depth: 246.908319 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 203.535236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844268; longitude = -121.963195; captureRadius = 10; duration = 54; initialDepth = 201.123471; finalDepth = 203.535236; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.373083 # Actual altitude: 50 # Commanded vehicle depth:203.535236 # Seafloor depth:-246.908319 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 241.123471 meters looking forward 50.000000 meters along route # Maximum depth: 243.265495 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.123471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844719; longitude = -121.963077; captureRadius = 10; duration = 54; initialDepth = 198.350706; finalDepth = 201.123471; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.373083 # Actual altitude: 50 # Commanded vehicle depth:201.123471 # Seafloor depth:-243.265495 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 238.350706 meters looking forward 50.000000 meters along route # Maximum depth: 241.216159 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.350706 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845169; longitude = -121.962960; captureRadius = 10; duration = 54; initialDepth = 197.831775; finalDepth = 198.350706; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.865453 # Actual altitude: 50 # Commanded vehicle depth:198.350706 # Seafloor depth:-241.216159 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 237.831775 meters looking forward 50.000000 meters along route # Maximum depth: 238.957389 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.831775 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845620; longitude = -121.962843; captureRadius = 10; duration = 54; initialDepth = 196.802966; finalDepth = 197.831775; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.865453 # Actual altitude: 50 # Commanded vehicle depth:197.831775 # Seafloor depth:-238.729729 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 236.802966 meters looking forward 50.000000 meters along route # Maximum depth: 238.399654 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.802966 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846071; longitude = -121.962725; captureRadius = 10; duration = 54; initialDepth = 195.457328; finalDepth = 196.802966; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.897954 # Actual altitude: 50 # Commanded vehicle depth:196.802966 # Seafloor depth:-237.500023 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 235.457328 meters looking forward 50.000000 meters along route # Maximum depth: 236.676706 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.457328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846521; longitude = -121.962608; captureRadius = 10; duration = 54; initialDepth = 191.700977; finalDepth = 195.457328; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.219378 # Actual altitude: 50 # Commanded vehicle depth:195.457328 # Seafloor depth:-236.676706 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 231.700977 meters looking forward 50.000000 meters along route # Maximum depth: 236.137639 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.700977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846972; longitude = -121.962491; captureRadius = 10; duration = 54; initialDepth = 187.174390; finalDepth = 191.700977; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.436662 # Actual altitude: 50 # Commanded vehicle depth:191.700977 # Seafloor depth:-236.137639 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 227.174390 meters looking forward 50.000000 meters along route # Maximum depth: 231.609693 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.174390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847423; longitude = -121.962373; captureRadius = 10; duration = 54; initialDepth = 182.330714; finalDepth = 187.174390; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.436662 # Actual altitude: 50 # Commanded vehicle depth:187.17439 # Seafloor depth:-231.360754 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 222.330714 meters looking forward 50.000000 meters along route # Maximum depth: 227.857284 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.330714 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847873; longitude = -121.962256; captureRadius = 10; duration = 54; initialDepth = 180.554555; finalDepth = 182.330714; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.52657 # Actual altitude: 50 # Commanded vehicle depth:182.330714 # Seafloor depth:-227.857284 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 220.554555 meters looking forward 50.000000 meters along route # Maximum depth: 222.593809 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.554555 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848324; longitude = -121.962139; captureRadius = 10; duration = 54; initialDepth = 177.423880; finalDepth = 180.554555; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.52657 # Actual altitude: 50 # Commanded vehicle depth:180.554555 # Seafloor depth:-222.326558 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 217.423880 meters looking forward 50.000000 meters along route # Maximum depth: 220.908009 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.423880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848774; longitude = -121.962021; captureRadius = 10; duration = 54; initialDepth = 175.847940; finalDepth = 177.423880; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.039831 # Actual altitude: 50 # Commanded vehicle depth:177.42388 # Seafloor depth:-220.463711 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 215.847940 meters looking forward 50.000000 meters along route # Maximum depth: 217.178757 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.847940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849225; longitude = -121.961904; captureRadius = 10; duration = 54; initialDepth = 175.828179; finalDepth = 175.847940; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.039831 # Actual altitude: 50 # Commanded vehicle depth:175.84794 # Seafloor depth:-217.144616 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 215.828179 meters looking forward 50.000000 meters along route # Maximum depth: 217.859325 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.828179 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849676; longitude = -121.961787; captureRadius = 10; duration = 54; initialDepth = 173.396320; finalDepth = 175.828179; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.296676 # Actual altitude: 50 # Commanded vehicle depth:175.828179 # Seafloor depth:-217.118460 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 213.396320 meters looking forward 50.000000 meters along route # Maximum depth: 215.831850 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.396320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850126; longitude = -121.961669; captureRadius = 10; duration = 54; initialDepth = 171.192021; finalDepth = 173.396320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.074247 # Actual altitude: 50 # Commanded vehicle depth:173.39632 # Seafloor depth:-215.470567 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 211.192021 meters looking forward 50.000000 meters along route # Maximum depth: 213.518952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 171.192021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850577; longitude = -121.961552; captureRadius = 10; duration = 54; initialDepth = 168.151610; finalDepth = 171.192021; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.326931 # Actual altitude: 50 # Commanded vehicle depth:171.192021 # Seafloor depth:-213.518952 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 208.151610 meters looking forward 50.000000 meters along route # Maximum depth: 211.643618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.151610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851028; longitude = -121.961435; captureRadius = 10; duration = 54; initialDepth = 166.987082; finalDepth = 168.151610; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.492008 # Actual altitude: 50 # Commanded vehicle depth:168.15161 # Seafloor depth:-211.643618 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 206.987082 meters looking forward 50.000000 meters along route # Maximum depth: 209.474453 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.987082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851478; longitude = -121.961317; captureRadius = 10; duration = 54; initialDepth = 162.371995; finalDepth = 166.987082; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.492008 # Actual altitude: 50 # Commanded vehicle depth:166.987082 # Seafloor depth:-208.741825 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 202.371995 meters looking forward 50.000000 meters along route # Maximum depth: 207.234178 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 162.371995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851929; longitude = -121.961200; captureRadius = 10; duration = 54; initialDepth = 155.504868; finalDepth = 162.371995; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.862183 # Actual altitude: 50 # Commanded vehicle depth:162.371995 # Seafloor depth:-207.234178 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 195.504868 meters looking forward 50.000000 meters along route # Maximum depth: 201.924374 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.504868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852379; longitude = -121.961083; captureRadius = 10; duration = 54; initialDepth = 152.754492; finalDepth = 155.504868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.419506 # Actual altitude: 50 # Commanded vehicle depth:155.504868 # Seafloor depth:-201.924374 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 192.754492 meters looking forward 50.000000 meters along route # Maximum depth: 195.691013 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.754492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852830; longitude = -121.960965; captureRadius = 10; duration = 54; initialDepth = 148.281279; finalDepth = 152.754492; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.419506 # Actual altitude: 50 # Commanded vehicle depth:152.754492 # Seafloor depth:-194.318389 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 188.281279 meters looking forward 50.000000 meters along route # Maximum depth: 192.743565 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.281279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853281; longitude = -121.960848; captureRadius = 10; duration = 54; initialDepth = 143.781368; finalDepth = 148.281279; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.462286 # Actual altitude: 50 # Commanded vehicle depth:148.281279 # Seafloor depth:-192.743565 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 183.781368 meters looking forward 50.000000 meters along route # Maximum depth: 189.275980 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.781368 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853731; longitude = -121.960731; captureRadius = 10; duration = 54; initialDepth = 141.350634; finalDepth = 143.781368; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.494612 # Actual altitude: 50 # Commanded vehicle depth:143.781368 # Seafloor depth:-189.275980 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 181.350634 meters looking forward 50.000000 meters along route # Maximum depth: 183.966106 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 141.350634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854182; longitude = -121.960613; captureRadius = 10; duration = 54; initialDepth = 137.619099; finalDepth = 141.350634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.494612 # Actual altitude: 50 # Commanded vehicle depth:141.350634 # Seafloor depth:-183.966106 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 177.619099 meters looking forward 50.000000 meters along route # Maximum depth: 181.719177 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.619099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854632; longitude = -121.960496; captureRadius = 10; duration = 54; initialDepth = 132.184103; finalDepth = 137.619099; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.100078 # Actual altitude: 50 # Commanded vehicle depth:137.619099 # Seafloor depth:-181.719177 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 172.184103 meters looking forward 50.000000 meters along route # Maximum depth: 176.015946 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.184103 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855083; longitude = -121.960379; captureRadius = 10; duration = 54; initialDepth = 128.312949; finalDepth = 132.184103; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.100078 # Actual altitude: 50 # Commanded vehicle depth:132.184103 # Seafloor depth:-176.015946 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 168.312949 meters looking forward 50.000000 meters along route # Maximum depth: 171.852709 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.312949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855534; longitude = -121.960261; captureRadius = 10; duration = 54; initialDepth = 122.729850; finalDepth = 128.312949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.831843 # Actual altitude: 50 # Commanded vehicle depth:128.312949 # Seafloor depth:-171.852709 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 162.729850 meters looking forward 50.000000 meters along route # Maximum depth: 167.186406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.729850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855984; longitude = -121.960144; captureRadius = 10; duration = 54; initialDepth = 117.519530; finalDepth = 122.729850; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.456556 # Actual altitude: 50 # Commanded vehicle depth:122.72985 # Seafloor depth:-167.186406 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 157.519530 meters looking forward 50.000000 meters along route # Maximum depth: 162.225302 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.519530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856435; longitude = -121.960027; captureRadius = 10; duration = 54; initialDepth = 109.094187; finalDepth = 117.519530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.705772 # Actual altitude: 50 # Commanded vehicle depth:117.51953 # Seafloor depth:-162.225302 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 149.094187 meters looking forward 50.000000 meters along route # Maximum depth: 156.671273 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.094187 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856886; longitude = -121.959909; captureRadius = 10; duration = 54; initialDepth = 106.059686; finalDepth = 109.094187; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.028299 # Actual altitude: 50 # Commanded vehicle depth:109.094187 # Seafloor depth:-156.122486 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 146.059686 meters looking forward 50.000000 meters along route # Maximum depth: 149.924389 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.059686 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857336; longitude = -121.959792; captureRadius = 10; duration = 54; initialDepth = 101.710725; finalDepth = 106.059686; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.028299 # Actual altitude: 50 # Commanded vehicle depth:106.059686 # Seafloor depth:-149.924389 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 141.710725 meters looking forward 50.000000 meters along route # Maximum depth: 145.943435 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.710725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857794; longitude = -121.959673; captureRadius = 10; duration = 54; initialDepth = 95.362853; finalDepth = 101.710725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.180582 # Actual altitude: 50 # Commanded vehicle depth:101.710725 # Seafloor depth:-145.891307 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 135.362853 meters looking forward 50.000000 meters along route # Maximum depth: 141.646422 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.362853 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858237; longitude = -121.959557; captureRadius = 10; duration = 54; initialDepth = 90.954633; finalDepth = 95.362853; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.283569 # Actual altitude: 50 # Commanded vehicle depth:95.362853 # Seafloor depth:-141.646422 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 130.954633 meters looking forward 50.000000 meters along route # Maximum depth: 134.874144 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.954633 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858688; longitude = -121.959440; captureRadius = 10; duration = 54; initialDepth = 86.319037; finalDepth = 90.954633; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.283569 # Actual altitude: 50 # Commanded vehicle depth:90.954633 # Seafloor depth:-134.610504 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 126.319037 meters looking forward 50.000000 meters along route # Maximum depth: 130.654322 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.319037 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859139; longitude = -121.959323; captureRadius = 10; duration = 54; initialDepth = 82.256699; finalDepth = 86.319037; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.335285 # Actual altitude: 50 # Commanded vehicle depth:86.319037 # Seafloor depth:-130.654322 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 122.256699 meters looking forward 50.000000 meters along route # Maximum depth: 125.526572 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.256699 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859589; longitude = -121.959205; captureRadius = 10; duration = 54; initialDepth = 79.033250; finalDepth = 82.256699; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.335285 # Actual altitude: 50 # Commanded vehicle depth:82.256699 # Seafloor depth:-125.526572 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 119.033250 meters looking forward 50.000000 meters along route # Maximum depth: 122.318069 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.033250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860040; longitude = -121.959088; captureRadius = 10; duration = 54; initialDepth = 79.033250; finalDepth = 79.033250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.284819 # Actual altitude: 50 # Commanded vehicle depth:79.03325 # Seafloor depth:-122.318069 # behavior reson { duration = RESON_DURATION; 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 = RESON_DURATION; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 43.284819 # Sonar parameter altitude: 50 # Commanded vehicle depth:79.03325 # Seafloor depth:-119.074107 # behavior reson { duration = RESON_DURATION; 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 54.480291 meters # Minimum depth: 119.033250 meters looking forward 50.000000 meters along route # Maximum depth: 122.116446 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 511.182052 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.033250 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860521; longitude = -121.958963; captureRadius = 10; duration = 600; initialDepth = 79.033250; finalDepth = 79.033250; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 191.197088; pitch = DESCENDPITCH; speed = MISSION_SPEED; maxDepth = DESCENT_DEPTH; minAltitude = ALTITUDE_MIN; duration = DESCEND_DURATION; } # # setpoint on surface to gather momentum behavior setpoint { duration = SETPOINT_DURATION; heading = 191.197088; speed = MISSION_SPEED; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = GPS_DURATION; minHits = GPSMINHITS; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = RESON_DURATION; 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; } # ####################################################### #######################################################