# 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_3v1.rte # Mission File: SoquelCanyonRock_3v1.cfg # Distance: 8357.430385 (m) # Estimated Time: 6905 (s) 1.918 (hr) # Abort Time: 8977 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 647 (s) # Way Points: 11 # Route Points: 167 # Survey behavior: WaypointDepth # Descent style: Waypoint descent # Mapping sonar control enabled: # # Mission Parameters: # Vehicle Speed: 1.500000 (m/s) 2.915769 (knots) # Desired Vehicle Altitude: 40 (m) # Minimum Vehicle Altitude: 50 (m) # Abort Vehicle Altitude: 30 (m) # Maximum Vehicle Depth: 514.485352 (m) # Abort Vehicle Depth: 539.485352 (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 -121.960214 36.860010 -134.076823 0.000000 1 # 1 -121.958178 36.856600 -137.597188 419.581537 1 # 2 -121.961821 36.844794 -217.515605 1769.054601 1 # 3 -121.964306 36.839867 -268.605550 2358.833362 1 # 4 -121.968733 36.834054 -318.714722 3114.996777 1 # 5 -121.971461 36.831050 -357.388997 3527.600365 1 # 6 -121.976056 36.825192 -405.279622 4295.946687 1 # 7 -121.980390 36.824141 -436.674927 4699.718930 1 # 8 -121.991412 36.821182 -503.793660 5736.157398 1 # 9 -122.005386 36.822789 -117.334147 6995.194083 1 # 10 -121.992141 36.816675 -539.485352 8357.430385 1 # # A total of 167 mission points have been defined. # # Define Mission parameters: #define MISSION_SPEED 1.500000 #define MISSION_DISTANCE 8357.430385 #define MISSION_TIME 6905 #define MISSION_TIMEOUT 4200 #define DEPTH_MAX 514.485352 #define DEPTH_ABORT 539.485352 #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 = 647; 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 10 # Segment length 51.754363 meters # Minimum depth: 539.485352 meters looking forward 50.000000 meters along route # Maximum depth: 539.485352 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 499.485352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816675; longitude = -121.992141; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 497.091615; finalDepth = 499.485352; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:499.485352 # Seafloor depth:-539.485352 # 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 51.754363 meters # Minimum depth: 537.091615 meters looking forward 50.000000 meters along route # Maximum depth: 539.192439 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.091615 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816690; longitude = -121.992174; captureRadius = 10; duration = 51; initialDepth = 493.887890; finalDepth = 497.091615; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.100824 # Actual altitude: 50 # Commanded vehicle depth:497.091615 # Seafloor depth:-539.192439 # 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 51.754363 meters # Minimum depth: 533.887890 meters looking forward 50.000000 meters along route # Maximum depth: 536.891114 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 493.887890 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816916; longitude = -121.992662; captureRadius = 10; duration = 51; initialDepth = 480.949412; finalDepth = 493.887890; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.003224 # Actual altitude: 50 # Commanded vehicle depth:493.88789 # Seafloor depth:-536.891114 # 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 51.754363 meters # Minimum depth: 520.949412 meters looking forward 50.000000 meters along route # Maximum depth: 533.706216 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 480.949412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817141; longitude = -121.993150; captureRadius = 10; duration = 51; initialDepth = 459.505595; finalDepth = 480.949412; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.756804 # Actual altitude: 52.756804 # Commanded vehicle depth:480.949412 # Seafloor depth:-533.706216 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 211.03; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.10; MB_Bottom_Detect_Filter_Max_Range = 211.03; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 158.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 499.505595 meters looking forward 50.000000 meters along route # Maximum depth: 520.843184 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 459.505595 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817366; longitude = -121.993638; captureRadius = 10; duration = 51; initialDepth = 432.738369; finalDepth = 459.505595; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.3375889999999 # Actual altitude: 61.3375889999999 # Commanded vehicle depth:459.505595 # Seafloor depth:-520.843184 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 245.35; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.54; MB_Bottom_Detect_Filter_Max_Range = 245.35; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 472.738369 meters looking forward 50.000000 meters along route # Maximum depth: 497.198939 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.738369 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817592; longitude = -121.994126; captureRadius = 10; duration = 51; initialDepth = 409.501477; finalDepth = 432.738369; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.46057 # Actual altitude: 64.46057 # Commanded vehicle depth:432.738369 # Seafloor depth:-497.198939 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 257.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 449.501477 meters looking forward 50.000000 meters along route # Maximum depth: 471.626367 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.501477 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817817; longitude = -121.994614; captureRadius = 10; duration = 51; initialDepth = 392.271712; finalDepth = 409.501477; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.46057 # Actual altitude: 64.46057 # Commanded vehicle depth:409.501477 # Seafloor depth:-471.626367 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 257.84; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.78; MB_Bottom_Detect_Filter_Max_Range = 257.84; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 193.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 432.271712 meters looking forward 50.000000 meters along route # Maximum depth: 449.116527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.271712 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818042; longitude = -121.995103; captureRadius = 10; duration = 51; initialDepth = 382.505360; finalDepth = 392.271712; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.12489 # Actual altitude: 62.12489 # Commanded vehicle depth:392.271712 # Seafloor depth:-449.116527 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.50; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.85; MB_Bottom_Detect_Filter_Max_Range = 248.50; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.37; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 422.505360 meters looking forward 50.000000 meters along route # Maximum depth: 430.453463 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.505360 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818268; longitude = -121.995591; captureRadius = 10; duration = 51; initialDepth = 382.295125; finalDepth = 382.505360; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.844815 # Actual altitude: 56.844815 # Commanded vehicle depth:382.50536 # Seafloor depth:-430.453463 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.38; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.74; MB_Bottom_Detect_Filter_Max_Range = 227.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 422.295125 meters looking forward 50.000000 meters along route # Maximum depth: 425.422097 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.295125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818493; longitude = -121.996079; captureRadius = 10; duration = 51; initialDepth = 379.657234; finalDepth = 382.295125; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.948103 # Actual altitude: 50 # Commanded vehicle depth:382.295125 # Seafloor depth:-422.438678 # 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 51.754363 meters # Minimum depth: 419.657234 meters looking forward 50.000000 meters along route # Maximum depth: 425.225462 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.657234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818718; longitude = -121.996567; captureRadius = 10; duration = 51; initialDepth = 374.696052; finalDepth = 379.657234; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.568228 # Actual altitude: 50 # Commanded vehicle depth:379.657234 # Seafloor depth:-425.225462 # 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 51.754363 meters # Minimum depth: 414.696052 meters looking forward 50.000000 meters along route # Maximum depth: 419.650691 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 374.696052 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818944; longitude = -121.997055; captureRadius = 10; duration = 51; initialDepth = 359.034859; finalDepth = 374.696052; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.568228 # Actual altitude: 50 # Commanded vehicle depth:374.696052 # Seafloor depth:-419.650691 # 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 51.754363 meters # Minimum depth: 399.034859 meters looking forward 50.000000 meters along route # Maximum depth: 414.046790 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.034859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819169; longitude = -121.997543; captureRadius = 10; duration = 51; initialDepth = 341.445837; finalDepth = 359.034859; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.011931 # Actual altitude: 55.011931 # Commanded vehicle depth:359.034859 # Seafloor depth:-414.046790 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 220.05; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.00; MB_Bottom_Detect_Filter_Max_Range = 220.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 381.445837 meters looking forward 50.000000 meters along route # Maximum depth: 398.238088 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.445837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819394; longitude = -121.998031; captureRadius = 10; duration = 51; initialDepth = 325.580680; finalDepth = 341.445837; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.792251 # Actual altitude: 56.792251 # Commanded vehicle depth:341.445837 # Seafloor depth:-398.238088 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 365.580680 meters looking forward 50.000000 meters along route # Maximum depth: 381.183208 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.580680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819619; longitude = -121.998520; captureRadius = 10; duration = 51; initialDepth = 300.317017; finalDepth = 325.580680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.792251 # Actual altitude: 56.792251 # Commanded vehicle depth:325.58068 # Seafloor depth:-381.183208 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 227.17; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.72; MB_Bottom_Detect_Filter_Max_Range = 227.17; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 170.38; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 340.317017 meters looking forward 50.000000 meters along route # Maximum depth: 363.214811 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 300.317017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819845; longitude = -121.999008; captureRadius = 10; duration = 51; initialDepth = 274.426090; finalDepth = 300.317017; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.897794 # Actual altitude: 62.897794 # Commanded vehicle depth:300.317017 # Seafloor depth:-363.214811 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.59; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.16; MB_Bottom_Detect_Filter_Max_Range = 251.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 314.426090 meters looking forward 50.000000 meters along route # Maximum depth: 337.908912 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 274.426090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820070; longitude = -121.999496; captureRadius = 10; duration = 51; initialDepth = 250.239072; finalDepth = 274.426090; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.482822 # Actual altitude: 63.482822 # Commanded vehicle depth:274.42609 # Seafloor depth:-337.908912 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 253.93; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.39; MB_Bottom_Detect_Filter_Max_Range = 253.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 290.239072 meters looking forward 50.000000 meters along route # Maximum depth: 313.822561 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 250.239072 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820295; longitude = -121.999984; captureRadius = 10; duration = 51; initialDepth = 218.969652; finalDepth = 250.239072; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.583489 # Actual altitude: 63.583489 # Commanded vehicle depth:250.239072 # Seafloor depth:-313.822561 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.33; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.43; MB_Bottom_Detect_Filter_Max_Range = 254.33; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 258.969652 meters looking forward 50.000000 meters along route # Maximum depth: 290.199354 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 218.969652 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820521; longitude = -122.000473; captureRadius = 10; duration = 51; initialDepth = 185.643173; finalDepth = 218.969652; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.229702 # Actual altitude: 71.229702 # Commanded vehicle depth:218.969652 # Seafloor depth:-290.199354 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.49; MB_Bottom_Detect_Filter_Max_Range = 284.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 225.643173 meters looking forward 50.000000 meters along route # Maximum depth: 256.144079 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.643173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820746; longitude = -122.000960; captureRadius = 10; duration = 51; initialDepth = 154.739275; finalDepth = 185.643173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.229702 # Actual altitude: 71.229702 # Commanded vehicle depth:185.643173 # Seafloor depth:-256.144079 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 284.92; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.49; MB_Bottom_Detect_Filter_Max_Range = 284.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 213.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 194.739275 meters looking forward 50.000000 meters along route # Maximum depth: 223.607940 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.739275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820971; longitude = -122.001449; captureRadius = 10; duration = 51; initialDepth = 151.119437; finalDepth = 154.739275; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.500906 # Actual altitude: 70.500906 # Commanded vehicle depth:154.739275 # Seafloor depth:-223.607940 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 282.00; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.20; MB_Bottom_Detect_Filter_Max_Range = 282.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 211.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 191.119437 meters looking forward 50.000000 meters along route # Maximum depth: 194.439616 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.119437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821197; longitude = -122.001937; captureRadius = 10; duration = 51; initialDepth = 153.294634; finalDepth = 151.119437; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.868665 # Actual altitude: 68.868665 # Commanded vehicle depth:151.119437 # Seafloor depth:-194.439616 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 275.47; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.55; MB_Bottom_Detect_Filter_Max_Range = 275.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 206.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 193.294634 meters looking forward 50.000000 meters along route # Maximum depth: 199.796406 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 153.294634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821422; longitude = -122.002425; captureRadius = 10; duration = 51; initialDepth = 133.468168; finalDepth = 153.294634; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.320179 # Actual altitude: 50 # Commanded vehicle depth:153.294634 # Seafloor depth:-193.294634 # 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 51.754363 meters # Minimum depth: 173.468168 meters looking forward 50.000000 meters along route # Maximum depth: 197.628724 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.468168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821647; longitude = -122.002913; captureRadius = 10; duration = 51; initialDepth = 112.300838; finalDepth = 133.468168; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.160556 # Actual altitude: 64.160556 # Commanded vehicle depth:133.468168 # Seafloor depth:-197.628724 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 152.300838 meters looking forward 50.000000 meters along route # Maximum depth: 172.620190 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.300838 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821873; longitude = -122.003401; captureRadius = 10; duration = 51; initialDepth = 94.336620; finalDepth = 112.300838; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 64.160556 # Actual altitude: 64.160556 # Commanded vehicle depth:112.300838 # Seafloor depth:-172.620190 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 256.64; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.66; MB_Bottom_Detect_Filter_Max_Range = 256.64; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 192.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 134.336620 meters looking forward 50.000000 meters along route # Maximum depth: 149.610993 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.336620 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822098; longitude = -122.003889; captureRadius = 10; duration = 51; initialDepth = 85.017538; finalDepth = 94.336620; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.319352 # Actual altitude: 60.319352 # Commanded vehicle depth:94.33662 # Seafloor depth:-149.610993 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 241.28; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.13; MB_Bottom_Detect_Filter_Max_Range = 241.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 180.96; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 125.017538 meters looking forward 50.000000 meters along route # Maximum depth: 133.130189 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.017538 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822323; longitude = -122.004377; captureRadius = 10; duration = 51; initialDepth = 77.988304; finalDepth = 85.017538; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.274373 # Actual altitude: 55.274373 # Commanded vehicle depth:85.017538 # Seafloor depth:-133.130189 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.10; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.11; MB_Bottom_Detect_Filter_Max_Range = 221.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 165.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.754363 meters # Minimum depth: 117.988304 meters looking forward 50.000000 meters along route # Maximum depth: 124.574151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.988304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822548; longitude = -122.004866; captureRadius = 10; duration = 51; initialDepth = 77.334147; finalDepth = 77.988304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.112651 # Actual altitude: 50 # Commanded vehicle depth:77.988304 # Seafloor depth:-124.574151 # 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 9 # Segment length 51.754363 meters # Minimum depth: 117.334147 meters looking forward 50.000000 meters along route # Maximum depth: 119.997852 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.334147 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822789; longitude = -122.005386; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 79.889817; finalDepth = 77.334147; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.585847 # Actual altitude: 50 # Commanded vehicle depth:77.334147 # Seafloor depth:-117.334147 # 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 51.754363 meters # Minimum depth: 119.889817 meters looking forward 50.000000 meters along route # Maximum depth: 123.759647 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.889817 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822733; longitude = -122.004901; captureRadius = 10; duration = 51; initialDepth = 85.031024; finalDepth = 79.889817; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.889817 # Seafloor depth:-119.889817 # 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 51.754363 meters # Minimum depth: 125.031024 meters looking forward 50.000000 meters along route # Maximum depth: 136.252255 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.031024 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822669; longitude = -122.004340; captureRadius = 10; duration = 51; initialDepth = 97.532004; finalDepth = 85.031024; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.031024 # Seafloor depth:-125.031024 # 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 51.754363 meters # Minimum depth: 137.532004 meters looking forward 50.000000 meters along route # Maximum depth: 148.425584 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.532004 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822604; longitude = -122.003780; captureRadius = 10; duration = 51; initialDepth = 105.285984; finalDepth = 97.532004; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.532004 # Seafloor depth:-137.532004 # 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 51.754363 meters # Minimum depth: 145.285984 meters looking forward 50.000000 meters along route # Maximum depth: 148.747056 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.285984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822540; longitude = -122.003219; captureRadius = 10; duration = 51; initialDepth = 100.596461; finalDepth = 105.285984; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.461072 # Actual altitude: 50 # Commanded vehicle depth:105.285984 # Seafloor depth:-148.747056 # 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 51.754363 meters # Minimum depth: 140.596461 meters looking forward 50.000000 meters along route # Maximum depth: 145.309287 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.596461 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822475; longitude = -122.002659; captureRadius = 10; duration = 51; initialDepth = 100.187631; finalDepth = 100.596461; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.230435 # Actual altitude: 50 # Commanded vehicle depth:100.596461 # Seafloor depth:-144.826896 # 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 51.754363 meters # Minimum depth: 140.187631 meters looking forward 50.000000 meters along route # Maximum depth: 149.282885 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.187631 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822411; longitude = -122.002098; captureRadius = 10; duration = 51; initialDepth = 110.016961; finalDepth = 100.187631; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.230435 # Actual altitude: 50 # Commanded vehicle depth:100.187631 # Seafloor depth:-140.804062 # 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 51.754363 meters # Minimum depth: 150.016961 meters looking forward 50.000000 meters along route # Maximum depth: 167.703760 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.016961 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822346; longitude = -122.001538; captureRadius = 10; duration = 51; initialDepth = 129.800617; finalDepth = 110.016961; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.616431 # Actual altitude: 50 # Commanded vehicle depth:110.016961 # Seafloor depth:-150.016961 # 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 51.754363 meters # Minimum depth: 169.800617 meters looking forward 50.000000 meters along route # Maximum depth: 198.940398 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.800617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822282; longitude = -122.000977; captureRadius = 10; duration = 51; initialDepth = 155.048582; finalDepth = 129.800617; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:129.800617 # Seafloor depth:-169.800617 # 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 51.754363 meters # Minimum depth: 202.845103 meters looking forward 50.000000 meters along route # Maximum depth: 239.990774 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.048582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822217; longitude = -122.000417; captureRadius = 10; duration = 51; initialDepth = 180.296571; finalDepth = 155.048582; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.7965205000003 # Actual altitude: 50 # Commanded vehicle depth:155.0485825 # Seafloor depth:-202.845103 # 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 51.754363 meters # Minimum depth: 242.360759 meters looking forward 50.000000 meters along route # Maximum depth: 262.476274 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.296571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822153; longitude = -121.999857; captureRadius = 10; duration = 51; initialDepth = 205.544583; finalDepth = 180.296571; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.064188 # Actual altitude: 62.064188 # Commanded vehicle depth:180.296571 # Seafloor depth:-242.360759 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.26; 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 = 248.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.754363 meters # Minimum depth: 267.340899 meters looking forward 50.000000 meters along route # Maximum depth: 283.916349 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 205.544583 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822088; longitude = -121.999296; captureRadius = 10; duration = 51; initialDepth = 230.792619; finalDepth = 205.544583; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.064188 # Actual altitude: 62.064188 # Commanded vehicle depth:205.5445835 # Seafloor depth:-267.340899 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 248.26; 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 = 248.26; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 186.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.754363 meters # Minimum depth: 285.297604 meters looking forward 50.000000 meters along route # Maximum depth: 301.719328 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.792619 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822024; longitude = -121.998736; captureRadius = 10; duration = 51; initialDepth = 256.040679; finalDepth = 230.792619; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.7963155000003 # Actual altitude: 61.7963155000003 # Commanded vehicle depth:230.7926195 # Seafloor depth:-285.297604 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 247.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.72; MB_Bottom_Detect_Filter_Max_Range = 247.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 185.39; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.754363 meters # Minimum depth: 302.958322 meters looking forward 50.000000 meters along route # Maximum depth: 325.675258 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.040679 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821959; longitude = -121.998175; captureRadius = 10; duration = 51; initialDepth = 281.288762; finalDepth = 256.040679; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.5049845000003 # Actual altitude: 54.5049845000003 # Commanded vehicle depth:256.040679 # Seafloor depth:-302.958322 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 218.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.80; MB_Bottom_Detect_Filter_Max_Range = 218.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 163.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.754363 meters # Minimum depth: 329.262426 meters looking forward 50.000000 meters along route # Maximum depth: 354.340580 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.288762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821895; longitude = -121.997615; captureRadius = 10; duration = 51; initialDepth = 306.536868; finalDepth = 281.288762; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9736640000002 # Actual altitude: 50 # Commanded vehicle depth:281.288762 # Seafloor depth:-329.262426 # 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 51.754363 meters # Minimum depth: 355.908060 meters looking forward 50.000000 meters along route # Maximum depth: 363.419059 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.536868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821831; longitude = -121.997054; captureRadius = 10; duration = 51; initialDepth = 323.516804; finalDepth = 306.536868; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3711915 # Actual altitude: 50 # Commanded vehicle depth:306.5368685 # Seafloor depth:-355.908060 # 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 51.754363 meters # Minimum depth: 363.516804 meters looking forward 50.000000 meters along route # Maximum depth: 374.005249 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.516804 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821766; longitude = -121.996494; captureRadius = 10; duration = 51; initialDepth = 334.593548; finalDepth = 323.516804; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.3711915 # Actual altitude: 50 # Commanded vehicle depth:323.516804 # Seafloor depth:-363.516804 # 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 51.754363 meters # Minimum depth: 374.593548 meters looking forward 50.000000 meters along route # Maximum depth: 392.087194 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 334.593548 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821702; longitude = -121.995933; captureRadius = 10; duration = 51; initialDepth = 355.492201; finalDepth = 334.593548; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:334.593548 # Seafloor depth:-374.593548 # 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 51.754363 meters # Minimum depth: 395.492201 meters looking forward 50.000000 meters along route # Maximum depth: 420.037701 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.492201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821637; longitude = -121.995373; captureRadius = 10; duration = 51; initialDepth = 380.740402; finalDepth = 355.492201; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.492201 # Seafloor depth:-395.492201 # 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 51.754363 meters # Minimum depth: 423.292885 meters looking forward 50.000000 meters along route # Maximum depth: 452.175618 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.740402 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821573; longitude = -121.994813; captureRadius = 10; duration = 51; initialDepth = 405.988626; finalDepth = 380.740402; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5524834999998 # Actual altitude: 50 # Commanded vehicle depth:380.7404015 # Seafloor depth:-423.292885 # 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 51.754363 meters # Minimum depth: 452.551617 meters looking forward 50.000000 meters along route # Maximum depth: 456.933792 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.988626 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821508; longitude = -121.994252; captureRadius = 10; duration = 51; initialDepth = 400.550304; finalDepth = 405.988626; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2053064999999 # Actual altitude: 50 # Commanded vehicle depth:405.9886255 # Seafloor depth:-453.193932 # 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 51.754363 meters # Minimum depth: 440.550304 meters looking forward 50.000000 meters along route # Maximum depth: 450.847224 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 400.550304 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821444; longitude = -121.993692; captureRadius = 10; duration = 51; initialDepth = 399.580483; finalDepth = 400.550304; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.29692 # Actual altitude: 50.29692 # Commanded vehicle depth:400.550304 # Seafloor depth:-450.847224 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.754363 meters # Minimum depth: 439.580483 meters looking forward 50.000000 meters along route # Maximum depth: 456.745171 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.580483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821379; longitude = -121.993131; captureRadius = 10; duration = 51; initialDepth = 419.969195; finalDepth = 399.580483; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.29692 # Actual altitude: 50.29692 # Commanded vehicle depth:399.580483 # Seafloor depth:-439.580483 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.19; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.12; MB_Bottom_Detect_Filter_Max_Range = 201.19; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.754363 meters # Minimum depth: 459.969195 meters looking forward 50.000000 meters along route # Maximum depth: 486.639762 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.969195 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821315; longitude = -121.992571; captureRadius = 10; duration = 51; initialDepth = 445.217513; finalDepth = 419.969195; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:419.969195 # Seafloor depth:-459.969195 # 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 51.754363 meters # Minimum depth: 490.458908 meters looking forward 50.000000 meters along route # Maximum depth: 503.557611 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.217513 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821250; longitude = -121.992010; captureRadius = 10; duration = 51; initialDepth = 462.882963; finalDepth = 445.217513; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2413945000004 # Actual altitude: 50 # Commanded vehicle depth:445.2175135 # Seafloor depth:-490.458908 # 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 8 # Segment length 51.754363 meters # Minimum depth: 502.882963 meters looking forward 50.000000 meters along route # Maximum depth: 503.797341 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 462.882963 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821182; longitude = -121.991412; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 460.712947; finalDepth = 462.882963; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.2413945000004 # Actual altitude: 50 # Commanded vehicle depth:462.882963 # Seafloor depth:-503.793660 # 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 8 # Segment length 51.754363 meters # Minimum depth: 500.712947 meters looking forward 50.000000 meters along route # Maximum depth: 502.858442 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 460.712947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821292; longitude = -121.991001; captureRadius = 10; duration = 51; initialDepth = 456.588927; finalDepth = 460.712947; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.145495 # Actual altitude: 50 # Commanded vehicle depth:460.712947 # Seafloor depth:-502.858442 # 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 8 # Segment length 51.754363 meters # Minimum depth: 496.588927 meters looking forward 50.000000 meters along route # Maximum depth: 500.214354 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 456.588927 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821442; longitude = -121.990441; captureRadius = 10; duration = 51; initialDepth = 452.173379; finalDepth = 456.588927; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.625427 # Actual altitude: 50 # Commanded vehicle depth:456.588927 # Seafloor depth:-500.214354 # 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 8 # Segment length 51.754363 meters # Minimum depth: 492.173379 meters looking forward 50.000000 meters along route # Maximum depth: 496.320392 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.173379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821593; longitude = -121.989881; captureRadius = 10; duration = 51; initialDepth = 448.797152; finalDepth = 452.173379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.147013 # Actual altitude: 50 # Commanded vehicle depth:452.173379 # Seafloor depth:-496.320392 # 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 8 # Segment length 51.754363 meters # Minimum depth: 488.797152 meters looking forward 50.000000 meters along route # Maximum depth: 492.103738 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 448.797152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821743; longitude = -121.989320; captureRadius = 10; duration = 51; initialDepth = 445.911733; finalDepth = 448.797152; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.147013 # Actual altitude: 50 # Commanded vehicle depth:448.797152 # Seafloor depth:-492.103738 # 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 8 # Segment length 51.754363 meters # Minimum depth: 485.911733 meters looking forward 50.000000 meters along route # Maximum depth: 488.129677 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.911733 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821894; longitude = -121.988760; captureRadius = 10; duration = 51; initialDepth = 442.543474; finalDepth = 445.911733; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.306586 # Actual altitude: 50 # Commanded vehicle depth:445.911733 # Seafloor depth:-488.129677 # 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 8 # Segment length 51.754363 meters # Minimum depth: 482.543474 meters looking forward 50.000000 meters along route # Maximum depth: 485.637075 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 442.543474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822044; longitude = -121.988199; captureRadius = 10; duration = 51; initialDepth = 439.263440; finalDepth = 442.543474; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.093601 # Actual altitude: 50 # Commanded vehicle depth:442.543474 # Seafloor depth:-485.637075 # 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 8 # Segment length 51.754363 meters # Minimum depth: 479.263440 meters looking forward 50.000000 meters along route # Maximum depth: 482.427067 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.263440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822195; longitude = -121.987639; captureRadius = 10; duration = 51; initialDepth = 436.928341; finalDepth = 439.263440; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.163627 # Actual altitude: 50 # Commanded vehicle depth:439.26344 # Seafloor depth:-482.427067 # 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 8 # Segment length 51.754363 meters # Minimum depth: 476.928341 meters looking forward 50.000000 meters along route # Maximum depth: 479.019076 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.928341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822345; longitude = -121.987078; captureRadius = 10; duration = 51; initialDepth = 434.770976; finalDepth = 436.928341; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.163627 # Actual altitude: 50 # Commanded vehicle depth:436.928341 # Seafloor depth:-479.019076 # 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 8 # Segment length 51.754363 meters # Minimum depth: 474.770976 meters looking forward 50.000000 meters along route # Maximum depth: 476.699082 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.770976 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822496; longitude = -121.986518; captureRadius = 10; duration = 51; initialDepth = 432.729173; finalDepth = 434.770976; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.090735 # Actual altitude: 50 # Commanded vehicle depth:434.770976 # Seafloor depth:-476.699082 # 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 8 # Segment length 51.754363 meters # Minimum depth: 472.729173 meters looking forward 50.000000 meters along route # Maximum depth: 474.694234 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.729173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822639; longitude = -121.985985; captureRadius = 10; duration = 51; initialDepth = 431.248164; finalDepth = 432.729173; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.965061 # Actual altitude: 50 # Commanded vehicle depth:432.729173 # Seafloor depth:-474.694234 # 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 8 # Segment length 51.754363 meters # Minimum depth: 471.248164 meters looking forward 50.000000 meters along route # Maximum depth: 472.612911 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 431.248164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822782; longitude = -121.985453; captureRadius = 10; duration = 51; initialDepth = 424.461658; finalDepth = 431.248164; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.965061 # Actual altitude: 50 # Commanded vehicle depth:431.248164 # Seafloor depth:-472.612911 # 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 8 # Segment length 51.754363 meters # Minimum depth: 464.461658 meters looking forward 50.000000 meters along route # Maximum depth: 471.485479 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.461658 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822932; longitude = -121.984893; captureRadius = 10; duration = 51; initialDepth = 420.714429; finalDepth = 424.461658; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.023821 # Actual altitude: 50 # Commanded vehicle depth:424.461658 # Seafloor depth:-471.485479 # 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 8 # Segment length 51.754363 meters # Minimum depth: 460.714429 meters looking forward 50.000000 meters along route # Maximum depth: 464.383394 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.714429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823089; longitude = -121.984307; captureRadius = 10; duration = 51; initialDepth = 415.534248; finalDepth = 420.714429; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.023821 # Actual altitude: 50 # Commanded vehicle depth:420.714429 # Seafloor depth:-464.383394 # 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 8 # Segment length 51.754363 meters # Minimum depth: 455.534248 meters looking forward 50.000000 meters along route # Maximum depth: 460.575397 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 415.534248 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823233; longitude = -121.983772; captureRadius = 10; duration = 51; initialDepth = 409.634407; finalDepth = 415.534248; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.041149 # Actual altitude: 50 # Commanded vehicle depth:415.534248 # Seafloor depth:-460.575397 # 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 8 # Segment length 51.754363 meters # Minimum depth: 449.634407 meters looking forward 50.000000 meters along route # Maximum depth: 454.778685 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.634407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823383; longitude = -121.983211; captureRadius = 10; duration = 51; initialDepth = 407.623116; finalDepth = 409.634407; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.144278 # Actual altitude: 50 # Commanded vehicle depth:409.634407 # Seafloor depth:-454.778685 # 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 8 # Segment length 51.754363 meters # Minimum depth: 447.623116 meters looking forward 50.000000 meters along route # Maximum depth: 449.418697 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.623116 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823540; longitude = -121.982628; captureRadius = 10; duration = 51; initialDepth = 405.802254; finalDepth = 407.623116; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.144278 # Actual altitude: 50 # Commanded vehicle depth:407.623116 # Seafloor depth:-449.418697 # 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 8 # Segment length 51.754363 meters # Minimum depth: 445.802254 meters looking forward 50.000000 meters along route # Maximum depth: 447.593879 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.802254 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823684; longitude = -121.982090; captureRadius = 10; duration = 51; initialDepth = 399.235809; finalDepth = 405.802254; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.795581 # Actual altitude: 50 # Commanded vehicle depth:405.802254 # Seafloor depth:-447.593879 # 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 8 # Segment length 51.754363 meters # Minimum depth: 439.235809 meters looking forward 50.000000 meters along route # Maximum depth: 444.831215 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 399.235809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823835; longitude = -121.981530; captureRadius = 10; duration = 51; initialDepth = 396.457093; finalDepth = 399.235809; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.595406 # Actual altitude: 50 # Commanded vehicle depth:399.235809 # Seafloor depth:-444.831215 # 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 8 # Segment length 51.754363 meters # Minimum depth: 436.457093 meters looking forward 50.000000 meters along route # Maximum depth: 439.666252 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.457093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823990; longitude = -121.980950; captureRadius = 10; duration = 51; initialDepth = 396.457093; finalDepth = 396.457093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.595406 # Actual altitude: 50 # Commanded vehicle depth:396.457093 # Seafloor depth:-439.666252 # 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 7 # Segment length 51.754363 meters # Minimum depth: 436.457093 meters looking forward 50.000000 meters along route # Maximum depth: 437.413080 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.457093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824141; longitude = -121.980390; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 396.306567; finalDepth = 396.457093; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.209159 # Actual altitude: 50 # Commanded vehicle depth:396.457093 # Seafloor depth:-436.674927 # 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 51.754363 meters # Minimum depth: 436.306567 meters looking forward 50.000000 meters along route # Maximum depth: 438.031418 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 396.306567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824245; longitude = -121.979961; captureRadius = 10; duration = 51; initialDepth = 393.431915; finalDepth = 396.306567; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.278647 # Actual altitude: 50 # Commanded vehicle depth:396.306567 # Seafloor depth:-437.585214 # 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 51.754363 meters # Minimum depth: 433.431915 meters looking forward 50.000000 meters along route # Maximum depth: 436.073873 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 393.431915 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824381; longitude = -121.979400; captureRadius = 10; duration = 51; initialDepth = 392.651344; finalDepth = 393.431915; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.641958 # Actual altitude: 50 # Commanded vehicle depth:393.431915 # Seafloor depth:-436.073873 # 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 51.754363 meters # Minimum depth: 432.651344 meters looking forward 50.000000 meters along route # Maximum depth: 434.656631 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.651344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824517; longitude = -121.978840; captureRadius = 10; duration = 51; initialDepth = 390.069536; finalDepth = 392.651344; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.641958 # Actual altitude: 50 # Commanded vehicle depth:392.651344 # Seafloor depth:-434.656631 # 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 51.754363 meters # Minimum depth: 430.069536 meters looking forward 50.000000 meters along route # Maximum depth: 433.025723 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 390.069536 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824653; longitude = -121.978279; captureRadius = 10; duration = 51; initialDepth = 388.612414; finalDepth = 390.069536; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.956187 # Actual altitude: 50 # Commanded vehicle depth:390.069536 # Seafloor depth:-433.025723 # 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 51.754363 meters # Minimum depth: 428.612414 meters looking forward 50.000000 meters along route # Maximum depth: 430.474527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.612414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824789; longitude = -121.977719; captureRadius = 10; duration = 51; initialDepth = 380.968331; finalDepth = 388.612414; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.956187 # Actual altitude: 50 # Commanded vehicle depth:388.612414 # Seafloor depth:-430.447955 # 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 51.754363 meters # Minimum depth: 420.968331 meters looking forward 50.000000 meters along route # Maximum depth: 428.442178 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 380.968331 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824925; longitude = -121.977158; captureRadius = 10; duration = 51; initialDepth = 366.359336; finalDepth = 380.968331; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.473847 # Actual altitude: 50 # Commanded vehicle depth:380.968331 # Seafloor depth:-428.442178 # 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 51.754363 meters # Minimum depth: 406.359336 meters looking forward 50.000000 meters along route # Maximum depth: 420.028526 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 366.359336 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825061; longitude = -121.976598; captureRadius = 10; duration = 51; initialDepth = 364.492450; finalDepth = 366.359336; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.66919 # Actual altitude: 53.66919 # Commanded vehicle depth:366.359336 # Seafloor depth:-420.028526 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 51.754363 meters # Minimum depth: 404.492450 meters looking forward 50.000000 meters along route # Maximum depth: 412.869692 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.492450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825192; longitude = -121.976056; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 362.582896; finalDepth = 364.492450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 53.66919 # Actual altitude: 53.66919 # Commanded vehicle depth:364.49245 # Seafloor depth:-405.279622 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 214.68; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.47; MB_Bottom_Detect_Filter_Max_Range = 214.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 161.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.754363 meters # Minimum depth: 402.582896 meters looking forward 50.000000 meters along route # Maximum depth: 404.642283 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.582896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825387; longitude = -121.975903; captureRadius = 10; duration = 51; initialDepth = 360.854450; finalDepth = 362.582896; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.694222 # Actual altitude: 50 # Commanded vehicle depth:362.582896 # Seafloor depth:-404.277118 # 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 51.754363 meters # Minimum depth: 400.854450 meters looking forward 50.000000 meters along route # Maximum depth: 402.551009 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.854450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825793; longitude = -121.975585; captureRadius = 10; duration = 51; initialDepth = 359.317829; finalDepth = 360.854450; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.696559 # Actual altitude: 50 # Commanded vehicle depth:360.85445 # Seafloor depth:-402.551009 # 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 51.754363 meters # Minimum depth: 399.317829 meters looking forward 50.000000 meters along route # Maximum depth: 400.860637 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 359.317829 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826216; longitude = -121.975253; captureRadius = 10; duration = 51; initialDepth = 358.208476; finalDepth = 359.317829; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.696559 # Actual altitude: 50 # Commanded vehicle depth:359.317829 # Seafloor depth:-400.730021 # 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 51.754363 meters # Minimum depth: 398.208476 meters looking forward 50.000000 meters along route # Maximum depth: 399.060499 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 358.208476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826604; longitude = -121.974949; captureRadius = 10; duration = 51; initialDepth = 355.056177; finalDepth = 358.208476; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.412192 # Actual altitude: 50 # Commanded vehicle depth:358.208476 # Seafloor depth:-399.033954 # 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 51.754363 meters # Minimum depth: 395.056177 meters looking forward 50.000000 meters along route # Maximum depth: 399.111574 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.056177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827010; longitude = -121.974630; captureRadius = 10; duration = 51; initialDepth = 348.744844; finalDepth = 355.056177; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.055397 # Actual altitude: 50 # Commanded vehicle depth:355.056177 # Seafloor depth:-399.111574 # 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 51.754363 meters # Minimum depth: 388.744844 meters looking forward 50.000000 meters along route # Maximum depth: 394.659557 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.744844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827431; longitude = -121.974300; captureRadius = 10; duration = 51; initialDepth = 343.370241; finalDepth = 348.744844; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.914713 # Actual altitude: 50 # Commanded vehicle depth:348.744844 # Seafloor depth:-394.659557 # 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 51.754363 meters # Minimum depth: 383.370241 meters looking forward 50.000000 meters along route # Maximum depth: 388.102405 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.370241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827821; longitude = -121.973994; captureRadius = 10; duration = 51; initialDepth = 338.453070; finalDepth = 343.370241; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.914713 # Actual altitude: 50 # Commanded vehicle depth:343.370241 # Seafloor depth:-388.102405 # 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 51.754363 meters # Minimum depth: 378.453070 meters looking forward 50.000000 meters along route # Maximum depth: 383.137339 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 338.453070 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828226; longitude = -121.973676; captureRadius = 10; duration = 51; initialDepth = 335.065022; finalDepth = 338.453070; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.732164 # Actual altitude: 50 # Commanded vehicle depth:338.45307 # Seafloor depth:-383.137339 # 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 51.754363 meters # Minimum depth: 375.065022 meters looking forward 50.000000 meters along route # Maximum depth: 378.316601 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 335.065022 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828645; longitude = -121.973347; captureRadius = 10; duration = 51; initialDepth = 332.181725; finalDepth = 335.065022; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.684269 # Actual altitude: 50 # Commanded vehicle depth:335.065022 # Seafloor depth:-378.316601 # 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 51.754363 meters # Minimum depth: 372.181725 meters looking forward 50.000000 meters along route # Maximum depth: 375.341135 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 332.181725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829037; longitude = -121.973040; captureRadius = 10; duration = 51; initialDepth = 331.163148; finalDepth = 332.181725; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.251579 # Actual altitude: 50 # Commanded vehicle depth:332.181725 # Seafloor depth:-375.341135 # 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 51.754363 meters # Minimum depth: 371.163148 meters looking forward 50.000000 meters along route # Maximum depth: 372.386801 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 331.163148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829443; longitude = -121.972721; captureRadius = 10; duration = 51; initialDepth = 329.827726; finalDepth = 331.163148; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.15941 # Actual altitude: 50 # Commanded vehicle depth:331.163148 # Seafloor depth:-372.233619 # 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 51.754363 meters # Minimum depth: 369.827726 meters looking forward 50.000000 meters along route # Maximum depth: 371.242022 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.827726 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829859; longitude = -121.972395; captureRadius = 10; duration = 51; initialDepth = 328.723709; finalDepth = 329.827726; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.414296 # Actual altitude: 50 # Commanded vehicle depth:329.827726 # Seafloor depth:-371.242022 # 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 51.754363 meters # Minimum depth: 368.723709 meters looking forward 50.000000 meters along route # Maximum depth: 369.881390 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 328.723709 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830254; longitude = -121.972085; captureRadius = 10; duration = 51; initialDepth = 318.140136; finalDepth = 328.723709; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.414296 # Actual altitude: 50 # Commanded vehicle depth:328.723709 # Seafloor depth:-369.510947 # 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 51.754363 meters # Minimum depth: 358.140136 meters looking forward 50.000000 meters along route # Maximum depth: 368.644647 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 318.140136 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830660; longitude = -121.971767; captureRadius = 10; duration = 51; initialDepth = 316.936478; finalDepth = 318.140136; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.504511 # Actual altitude: 50.504511 # Commanded vehicle depth:318.140136 # Seafloor depth:-368.644647 # behavior reson { duration = RESON_DURATION; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 51.754363 meters # Minimum depth: 356.936478 meters looking forward 50.000000 meters along route # Maximum depth: 367.256801 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 316.936478 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831050; longitude = -121.971461; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 308.706131; finalDepth = 316.936478; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.504511 # Actual altitude: 50.504511 # Commanded vehicle depth:316.936478 # Seafloor depth:-357.388997 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 202.02; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.20; MB_Bottom_Detect_Filter_Max_Range = 202.02; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.51; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.754363 meters # Minimum depth: 348.706131 meters looking forward 50.000000 meters along route # Maximum depth: 356.814633 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 308.706131 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831071; longitude = -121.971442; captureRadius = 10; duration = 51; initialDepth = 302.521542; finalDepth = 308.706131; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.108502 # Actual altitude: 50 # Commanded vehicle depth:308.706131 # Seafloor depth:-356.814633 # 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 51.754363 meters # Minimum depth: 342.521542 meters looking forward 50.000000 meters along route # Maximum depth: 348.365054 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.521542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831441; longitude = -121.971106; captureRadius = 10; duration = 51; initialDepth = 297.413424; finalDepth = 302.521542; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.108502 # Actual altitude: 50 # Commanded vehicle depth:302.521542 # Seafloor depth:-348.365054 # 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 51.754363 meters # Minimum depth: 337.413424 meters looking forward 50.000000 meters along route # Maximum depth: 342.239800 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 297.413424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831811; longitude = -121.970769; captureRadius = 10; duration = 51; initialDepth = 292.030342; finalDepth = 297.413424; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.843512 # Actual altitude: 50 # Commanded vehicle depth:297.413424 # Seafloor depth:-342.239800 # 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 51.754363 meters # Minimum depth: 332.030342 meters looking forward 50.000000 meters along route # Maximum depth: 337.054872 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 292.030342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832182; longitude = -121.970433; captureRadius = 10; duration = 51; initialDepth = 287.383026; finalDepth = 292.030342; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.02453 # Actual altitude: 50 # Commanded vehicle depth:292.030342 # Seafloor depth:-337.054872 # 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 51.754363 meters # Minimum depth: 327.383026 meters looking forward 50.000000 meters along route # Maximum depth: 331.407928 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 287.383026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832552; longitude = -121.970097; captureRadius = 10; duration = 51; initialDepth = 282.980869; finalDepth = 287.383026; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.02453 # Actual altitude: 50 # Commanded vehicle depth:287.383026 # Seafloor depth:-331.407928 # 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 51.754363 meters # Minimum depth: 322.980869 meters looking forward 50.000000 meters along route # Maximum depth: 327.301284 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.980869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832923; longitude = -121.969761; captureRadius = 10; duration = 51; initialDepth = 280.168666; finalDepth = 282.980869; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.320415 # Actual altitude: 50 # Commanded vehicle depth:282.980869 # Seafloor depth:-327.301284 # 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 51.754363 meters # Minimum depth: 320.168666 meters looking forward 50.000000 meters along route # Maximum depth: 322.631060 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.168666 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833293; longitude = -121.969424; captureRadius = 10; duration = 51; initialDepth = 278.507244; finalDepth = 280.168666; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.320415 # Actual altitude: 50 # Commanded vehicle depth:280.168666 # Seafloor depth:-322.631060 # 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 51.754363 meters # Minimum depth: 318.507244 meters looking forward 50.000000 meters along route # Maximum depth: 320.082054 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.507244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833679; longitude = -121.969074; captureRadius = 10; duration = 51; initialDepth = 278.507244; finalDepth = 278.507244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.462394 # Actual altitude: 50 # Commanded vehicle depth:278.507244 # Seafloor depth:-320.082054 # 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 51.754363 meters # Minimum depth: 318.507244 meters looking forward 50.000000 meters along route # Maximum depth: 319.105584 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.507244 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834054; longitude = -121.968733; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 278.623730; finalDepth = 278.507244; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.57481 # Actual altitude: 50 # Commanded vehicle depth:278.507244 # Seafloor depth:-318.714722 # 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 51.754363 meters # Minimum depth: 318.623730 meters looking forward 50.000000 meters along route # Maximum depth: 319.257748 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.623730 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834219; longitude = -121.968607; captureRadius = 10; duration = 51; initialDepth = 273.582594; finalDepth = 278.623730; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.528623 # Actual altitude: 50 # Commanded vehicle depth:278.62373 # Seafloor depth:-319.152353 # 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 51.754363 meters # Minimum depth: 313.582594 meters looking forward 50.000000 meters along route # Maximum depth: 318.589944 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.582594 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834625; longitude = -121.968298; captureRadius = 10; duration = 51; initialDepth = 263.385409; finalDepth = 273.582594; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.00735 # Actual altitude: 50 # Commanded vehicle depth:273.582594 # Seafloor depth:-318.589944 # 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 51.754363 meters # Minimum depth: 303.385409 meters looking forward 50.000000 meters along route # Maximum depth: 312.982274 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 263.385409 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835031; longitude = -121.967989; captureRadius = 10; duration = 51; initialDepth = 256.814845; finalDepth = 263.385409; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.596865 # Actual altitude: 50 # Commanded vehicle depth:263.385409 # Seafloor depth:-312.982274 # 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 51.754363 meters # Minimum depth: 296.814845 meters looking forward 50.000000 meters along route # Maximum depth: 303.217527 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 256.814845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835436; longitude = -121.967681; captureRadius = 10; duration = 51; initialDepth = 255.178188; finalDepth = 256.814845; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.596865 # Actual altitude: 50 # Commanded vehicle depth:256.814845 # Seafloor depth:-303.217527 # 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 51.754363 meters # Minimum depth: 295.178188 meters looking forward 50.000000 meters along route # Maximum depth: 296.790593 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.178188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835842; longitude = -121.967372; captureRadius = 10; duration = 51; initialDepth = 254.746881; finalDepth = 255.178188; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.402682 # Actual altitude: 50 # Commanded vehicle depth:255.178188 # Seafloor depth:-296.672358 # 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 51.754363 meters # Minimum depth: 294.746881 meters looking forward 50.000000 meters along route # Maximum depth: 297.836291 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.746881 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836247; longitude = -121.967063; captureRadius = 10; duration = 51; initialDepth = 255.942224; finalDepth = 254.746881; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.49417 # Actual altitude: 50 # Commanded vehicle depth:254.746881 # Seafloor depth:-294.905073 # 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 51.754363 meters # Minimum depth: 295.942224 meters looking forward 50.000000 meters along route # Maximum depth: 298.299003 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.942224 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836653; longitude = -121.966754; captureRadius = 10; duration = 51; initialDepth = 252.372643; finalDepth = 255.942224; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.201936 # Actual altitude: 50 # Commanded vehicle depth:255.942224 # Seafloor depth:-298.144160 # 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 51.754363 meters # Minimum depth: 292.372643 meters looking forward 50.000000 meters along route # Maximum depth: 296.158867 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 252.372643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837058; longitude = -121.966445; captureRadius = 10; duration = 51; initialDepth = 247.416247; finalDepth = 252.372643; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.786224 # Actual altitude: 50 # Commanded vehicle depth:252.372643 # Seafloor depth:-296.158867 # 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 51.754363 meters # Minimum depth: 287.416247 meters looking forward 50.000000 meters along route # Maximum depth: 292.346950 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.416247 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837464; longitude = -121.966136; captureRadius = 10; duration = 51; initialDepth = 245.124680; finalDepth = 247.416247; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.930703 # Actual altitude: 50 # Commanded vehicle depth:247.416247 # Seafloor depth:-292.346950 # 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 51.754363 meters # Minimum depth: 285.124680 meters looking forward 50.000000 meters along route # Maximum depth: 287.143230 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.124680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837869; longitude = -121.965827; captureRadius = 10; duration = 51; initialDepth = 242.578827; finalDepth = 245.124680; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.930703 # Actual altitude: 50 # Commanded vehicle depth:245.12468 # Seafloor depth:-287.143230 # 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 51.754363 meters # Minimum depth: 282.578827 meters looking forward 50.000000 meters along route # Maximum depth: 286.840313 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.578827 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838275; longitude = -121.965518; captureRadius = 10; duration = 51; initialDepth = 239.109260; finalDepth = 242.578827; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.261486 # Actual altitude: 50 # Commanded vehicle depth:242.578827 # Seafloor depth:-286.840313 # 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 51.754363 meters # Minimum depth: 279.109260 meters looking forward 50.000000 meters along route # Maximum depth: 282.271628 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.109260 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838681; longitude = -121.965209; captureRadius = 10; duration = 51; initialDepth = 234.350530; finalDepth = 239.109260; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.261486 # Actual altitude: 50 # Commanded vehicle depth:239.10926 # Seafloor depth:-282.271628 # 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 51.754363 meters # Minimum depth: 274.350530 meters looking forward 50.000000 meters along route # Maximum depth: 279.337261 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 234.350530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839086; longitude = -121.964901; captureRadius = 10; duration = 51; initialDepth = 229.265163; finalDepth = 234.350530; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.986731 # Actual altitude: 50 # Commanded vehicle depth:234.35053 # Seafloor depth:-279.337261 # 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 51.754363 meters # Minimum depth: 269.265163 meters looking forward 50.000000 meters along route # Maximum depth: 274.277710 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 229.265163 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839475; longitude = -121.964605; captureRadius = 10; duration = 51; initialDepth = 214.566771; finalDepth = 229.265163; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.986731 # Actual altitude: 50 # Commanded vehicle depth:229.265163 # Seafloor depth:-274.144408 # 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 51.754363 meters # Minimum depth: 254.566771 meters looking forward 50.000000 meters along route # Maximum depth: 268.605550 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.566771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839867; longitude = -121.964306; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 206.789069; finalDepth = 214.566771; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.038779 # Actual altitude: 54.038779 # Commanded vehicle depth:214.566771 # Seafloor depth:-268.605550 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.754363 meters # Minimum depth: 246.789069 meters looking forward 50.000000 meters along route # Maximum depth: 254.228952 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.789069 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840303; longitude = -121.964086; captureRadius = 10; duration = 51; initialDepth = 207.760504; finalDepth = 206.789069; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.038779 # Actual altitude: 54.038779 # Commanded vehicle depth:206.789069 # Seafloor depth:-254.228952 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.16; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.62; MB_Bottom_Detect_Filter_Max_Range = 216.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.12; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.754363 meters # Minimum depth: 247.760504 meters looking forward 50.000000 meters along route # Maximum depth: 250.844968 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.760504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840753; longitude = -121.963859; captureRadius = 10; duration = 51; initialDepth = 207.739552; finalDepth = 207.760504; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.439883 # Actual altitude: 50 # Commanded vehicle depth:207.760504 # Seafloor depth:-247.760504 # 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 51.754363 meters # Minimum depth: 247.739552 meters looking forward 50.000000 meters along route # Maximum depth: 250.043612 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 207.739552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841204; longitude = -121.963631; captureRadius = 10; duration = 51; initialDepth = 202.643752; finalDepth = 207.739552; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.30406 # Actual altitude: 50 # Commanded vehicle depth:207.739552 # Seafloor depth:-250.043612 # 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 51.754363 meters # Minimum depth: 242.643752 meters looking forward 50.000000 meters along route # Maximum depth: 246.772571 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.643752 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841655; longitude = -121.963404; captureRadius = 10; duration = 51; initialDepth = 198.240127; finalDepth = 202.643752; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.942837 # Actual altitude: 50 # Commanded vehicle depth:202.643752 # Seafloor depth:-246.586589 # 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 51.754363 meters # Minimum depth: 238.240127 meters looking forward 50.000000 meters along route # Maximum depth: 241.291426 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 198.240127 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842105; longitude = -121.963177; captureRadius = 10; duration = 51; initialDepth = 195.118357; finalDepth = 198.240127; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.942837 # Actual altitude: 50 # Commanded vehicle depth:198.240127 # Seafloor depth:-241.291426 # 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 51.754363 meters # Minimum depth: 235.118357 meters looking forward 50.000000 meters along route # Maximum depth: 237.626907 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.118357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842556; longitude = -121.962950; captureRadius = 10; duration = 51; initialDepth = 190.533648; finalDepth = 195.118357; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.051299 # Actual altitude: 50 # Commanded vehicle depth:195.118357 # Seafloor depth:-237.570114 # 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 51.754363 meters # Minimum depth: 230.533648 meters looking forward 50.000000 meters along route # Maximum depth: 235.048726 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 190.533648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843007; longitude = -121.962722; captureRadius = 10; duration = 51; initialDepth = 187.053563; finalDepth = 190.533648; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.515078 # Actual altitude: 50 # Commanded vehicle depth:190.533648 # Seafloor depth:-235.048726 # 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 51.754363 meters # Minimum depth: 227.053563 meters looking forward 50.000000 meters along route # Maximum depth: 230.463348 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.053563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843457; longitude = -121.962495; captureRadius = 10; duration = 51; initialDepth = 180.188317; finalDepth = 187.053563; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.515078 # Actual altitude: 50 # Commanded vehicle depth:187.053563 # Seafloor depth:-230.357262 # 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 51.754363 meters # Minimum depth: 220.188317 meters looking forward 50.000000 meters along route # Maximum depth: 225.962560 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 180.188317 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843908; longitude = -121.962268; captureRadius = 10; duration = 51; initialDepth = 176.664748; finalDepth = 180.188317; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.774243 # Actual altitude: 50 # Commanded vehicle depth:180.188317 # Seafloor depth:-225.962560 # 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 51.754363 meters # Minimum depth: 216.664748 meters looking forward 50.000000 meters along route # Maximum depth: 220.019341 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.664748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844358; longitude = -121.962041; captureRadius = 10; duration = 51; initialDepth = 176.664748; finalDepth = 176.664748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.774243 # Actual altitude: 50 # Commanded vehicle depth:176.664748 # Seafloor depth:-219.968601 # 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 51.754363 meters # Minimum depth: 216.664748 meters looking forward 50.000000 meters along route # Maximum depth: 218.749327 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.664748 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844794; longitude = -121.961821; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 178.759033; finalDepth = 176.664748; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.303853 # Actual altitude: 50 # Commanded vehicle depth:176.664748 # Seafloor depth:-217.515605 # 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 51.754363 meters # Minimum depth: 218.759033 meters looking forward 50.000000 meters along route # Maximum depth: 222.889260 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 178.759033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844855; longitude = -121.961802; captureRadius = 10; duration = 51; initialDepth = 182.912826; finalDepth = 178.759033; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.850857 # Actual altitude: 50 # Commanded vehicle depth:178.759033 # Seafloor depth:-218.759033 # 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 51.754363 meters # Minimum depth: 222.912826 meters looking forward 50.000000 meters along route # Maximum depth: 225.093002 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.912826 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845305; longitude = -121.961663; captureRadius = 10; duration = 51; initialDepth = 185.047366; finalDepth = 182.912826; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.030046 # Actual altitude: 50 # Commanded vehicle depth:182.912826 # Seafloor depth:-222.942872 # 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 51.754363 meters # Minimum depth: 225.047366 meters looking forward 50.000000 meters along route # Maximum depth: 225.727879 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.047366 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845763; longitude = -121.961522; captureRadius = 10; duration = 51; initialDepth = 184.411320; finalDepth = 185.047366; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.030046 # Actual altitude: 50 # Commanded vehicle depth:185.047366 # Seafloor depth:-225.067144 # 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 51.754363 meters # Minimum depth: 224.411320 meters looking forward 50.000000 meters along route # Maximum depth: 225.948139 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.411320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846206; longitude = -121.961385; captureRadius = 10; duration = 51; initialDepth = 183.312744; finalDepth = 184.411320; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.140717 # Actual altitude: 50 # Commanded vehicle depth:184.41132 # Seafloor depth:-225.552037 # 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 51.754363 meters # Minimum depth: 223.312744 meters looking forward 50.000000 meters along route # Maximum depth: 224.282722 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.312744 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846657; longitude = -121.961246; captureRadius = 10; duration = 51; initialDepth = 184.343721; finalDepth = 183.312744; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.140717 # Actual altitude: 50 # Commanded vehicle depth:183.312744 # Seafloor depth:-223.519491 # 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 51.754363 meters # Minimum depth: 224.343721 meters looking forward 50.000000 meters along route # Maximum depth: 225.502151 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 184.343721 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847107; longitude = -121.961107; captureRadius = 10; duration = 51; initialDepth = 179.079373; finalDepth = 184.343721; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.758981 # Actual altitude: 50 # Commanded vehicle depth:184.343721 # Seafloor depth:-225.102702 # 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 51.754363 meters # Minimum depth: 219.079373 meters looking forward 50.000000 meters along route # Maximum depth: 224.673922 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.079373 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847558; longitude = -121.960968; captureRadius = 10; duration = 51; initialDepth = 173.265081; finalDepth = 179.079373; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.594549 # Actual altitude: 50 # Commanded vehicle depth:179.079373 # Seafloor depth:-224.673922 # 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 51.754363 meters # Minimum depth: 213.265081 meters looking forward 50.000000 meters along route # Maximum depth: 218.555356 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.265081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848008; longitude = -121.960829; captureRadius = 10; duration = 51; initialDepth = 166.807957; finalDepth = 173.265081; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.594549 # Actual altitude: 50 # Commanded vehicle depth:173.265081 # Seafloor depth:-218.410381 # 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 51.754363 meters # Minimum depth: 206.807957 meters looking forward 50.000000 meters along route # Maximum depth: 213.076765 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.807957 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848459; longitude = -121.960690; captureRadius = 10; duration = 51; initialDepth = 163.674133; finalDepth = 166.807957; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.268808 # Actual altitude: 50 # Commanded vehicle depth:166.807957 # Seafloor depth:-213.076765 # 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 51.754363 meters # Minimum depth: 203.674133 meters looking forward 50.000000 meters along route # Maximum depth: 206.305787 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.674133 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848910; longitude = -121.960551; captureRadius = 10; duration = 51; initialDepth = 163.396316; finalDepth = 163.674133; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.268808 # Actual altitude: 50 # Commanded vehicle depth:163.674133 # Seafloor depth:-206.231815 # 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 51.754363 meters # Minimum depth: 203.396316 meters looking forward 50.000000 meters along route # Maximum depth: 204.185959 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.396316 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849360; longitude = -121.960412; captureRadius = 10; duration = 51; initialDepth = 163.127569; finalDepth = 163.396316; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.557682 # Actual altitude: 50 # Commanded vehicle depth:163.396316 # Seafloor depth:-203.842340 # 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 51.754363 meters # Minimum depth: 203.127569 meters looking forward 50.000000 meters along route # Maximum depth: 205.232889 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.127569 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849811; longitude = -121.960273; captureRadius = 10; duration = 51; initialDepth = 160.192293; finalDepth = 163.127569; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.086924 # Actual altitude: 50 # Commanded vehicle depth:163.127569 # Seafloor depth:-204.214493 # 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 51.754363 meters # Minimum depth: 200.192293 meters looking forward 50.000000 meters along route # Maximum depth: 202.887508 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 160.192293 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850261; longitude = -121.960134; captureRadius = 10; duration = 51; initialDepth = 155.061523; finalDepth = 160.192293; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.695215 # Actual altitude: 50 # Commanded vehicle depth:160.192293 # Seafloor depth:-202.887508 # 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 51.754363 meters # Minimum depth: 195.061523 meters looking forward 50.000000 meters along route # Maximum depth: 200.221811 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.061523 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850712; longitude = -121.959995; captureRadius = 10; duration = 51; initialDepth = 149.497298; finalDepth = 155.061523; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.960272 # Actual altitude: 50 # Commanded vehicle depth:155.061523 # Seafloor depth:-200.021795 # 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 51.754363 meters # Minimum depth: 189.497298 meters looking forward 50.000000 meters along route # Maximum depth: 194.789414 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.497298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851163; longitude = -121.959856; captureRadius = 10; duration = 51; initialDepth = 138.037289; finalDepth = 149.497298; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.292116 # Actual altitude: 50 # Commanded vehicle depth:149.497298 # Seafloor depth:-194.789414 # 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 51.754363 meters # Minimum depth: 178.037289 meters looking forward 50.000000 meters along route # Maximum depth: 188.877788 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.037289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851613; longitude = -121.959717; captureRadius = 10; duration = 51; initialDepth = 130.750949; finalDepth = 138.037289; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.840499 # Actual altitude: 50.840499 # Commanded vehicle depth:138.037289 # Seafloor depth:-188.877788 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.754363 meters # Minimum depth: 170.750949 meters looking forward 50.000000 meters along route # Maximum depth: 176.664880 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 130.750949 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852064; longitude = -121.959578; captureRadius = 10; duration = 51; initialDepth = 121.933306; finalDepth = 130.750949; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.840499 # Actual altitude: 50.840499 # Commanded vehicle depth:130.750949 # Seafloor depth:-176.664880 # behavior reson { duration = RESON_DURATION; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 203.36; MB_Rate = 2; MB_Gain = 75; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.34; MB_Bottom_Detect_Filter_Max_Range = 203.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 152.52; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.754363 meters # Minimum depth: 161.933306 meters looking forward 50.000000 meters along route # Maximum depth: 170.541655 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 121.933306 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852515; longitude = -121.959439; captureRadius = 10; duration = 51; initialDepth = 117.455140; finalDepth = 121.933306; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.608349 # Actual altitude: 50 # Commanded vehicle depth:121.933306 # Seafloor depth:-170.541655 # 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 51.754363 meters # Minimum depth: 157.455140 meters looking forward 50.000000 meters along route # Maximum depth: 161.404324 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.455140 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852965; longitude = -121.959300; captureRadius = 10; duration = 51; initialDepth = 115.543059; finalDepth = 117.455140; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.608349 # Actual altitude: 50 # Commanded vehicle depth:117.45514 # Seafloor depth:-161.404324 # 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 51.754363 meters # Minimum depth: 155.543059 meters looking forward 50.000000 meters along route # Maximum depth: 161.240277 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.543059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853416; longitude = -121.959161; captureRadius = 10; duration = 51; initialDepth = 112.728043; finalDepth = 115.543059; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.949184 # Actual altitude: 50 # Commanded vehicle depth:115.543059 # Seafloor depth:-158.379239 # 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 51.754363 meters # Minimum depth: 152.728043 meters looking forward 50.000000 meters along route # Maximum depth: 162.824581 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.728043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853866; longitude = -121.959022; captureRadius = 10; duration = 51; initialDepth = 102.241936; finalDepth = 112.728043; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.238222 # Actual altitude: 50 # Commanded vehicle depth:112.728043 # Seafloor depth:-161.966265 # 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 51.754363 meters # Minimum depth: 142.241936 meters looking forward 50.000000 meters along route # Maximum depth: 151.709017 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.241936 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854317; longitude = -121.958883; captureRadius = 10; duration = 51; initialDepth = 96.016426; finalDepth = 102.241936; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.467081 # Actual altitude: 50 # Commanded vehicle depth:102.241936 # Seafloor depth:-151.709017 # 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 51.754363 meters # Minimum depth: 136.016426 meters looking forward 50.000000 meters along route # Maximum depth: 143.390344 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.016426 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854768; longitude = -121.958743; captureRadius = 10; duration = 51; initialDepth = 95.387731; finalDepth = 96.016426; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.467081 # Actual altitude: 50 # Commanded vehicle depth:96.016426 # Seafloor depth:-140.184186 # 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 51.754363 meters # Minimum depth: 135.387731 meters looking forward 50.000000 meters along route # Maximum depth: 138.912188 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.387731 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855218; longitude = -121.958604; captureRadius = 10; duration = 51; initialDepth = 99.280299; finalDepth = 95.387731; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.16776 # Actual altitude: 50 # Commanded vehicle depth:95.387731 # Seafloor depth:-137.572720 # 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 51.754363 meters # Minimum depth: 139.280299 meters looking forward 50.000000 meters along route # Maximum depth: 145.995834 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.280299 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855669; longitude = -121.958465; captureRadius = 10; duration = 51; initialDepth = 97.997550; finalDepth = 99.280299; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.184989 # Actual altitude: 50 # Commanded vehicle depth:99.280299 # Seafloor depth:-139.280299 # 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 51.754363 meters # Minimum depth: 137.997550 meters looking forward 50.000000 meters along route # Maximum depth: 144.526509 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.997550 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856119; longitude = -121.958326; captureRadius = 10; duration = 51; initialDepth = 96.391835; finalDepth = 97.997550; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.976324 # Actual altitude: 50 # Commanded vehicle depth:97.99755 # Seafloor depth:-143.973874 # 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 1 # Segment length 51.754363 meters # Minimum depth: 136.391835 meters looking forward 50.000000 meters along route # Maximum depth: 139.309624 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.391835 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856600; longitude = -121.958178; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 98.183379; finalDepth = 96.391835; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.976324 # Actual altitude: 50 # Commanded vehicle depth:96.391835 # Seafloor depth:-137.597188 # 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 51.754363 meters # Minimum depth: 138.183379 meters looking forward 50.000000 meters along route # Maximum depth: 139.693460 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.183379 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.856976; longitude = -121.958402; captureRadius = 10; duration = 51; initialDepth = 96.563494; finalDepth = 98.183379; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.205353 # Actual altitude: 50 # Commanded vehicle depth:98.183379 # Seafloor depth:-139.243361 # 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 51.754363 meters # Minimum depth: 136.563494 meters looking forward 50.000000 meters along route # Maximum depth: 139.112335 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.563494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857413; longitude = -121.958664; captureRadius = 10; duration = 51; initialDepth = 96.385707; finalDepth = 96.563494; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.548841 # Actual altitude: 50 # Commanded vehicle depth:96.563494 # Seafloor depth:-139.112335 # 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 51.754363 meters # Minimum depth: 136.385707 meters looking forward 50.000000 meters along route # Maximum depth: 138.433714 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.385707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.857832; longitude = -121.958914; captureRadius = 10; duration = 51; initialDepth = 94.784691; finalDepth = 96.385707; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.548841 # Actual altitude: 50 # Commanded vehicle depth:96.385707 # Seafloor depth:-137.510651 # 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 51.754363 meters # Minimum depth: 134.784691 meters looking forward 50.000000 meters along route # Maximum depth: 137.112925 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.784691 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858282; longitude = -121.959183; captureRadius = 10; duration = 51; initialDepth = 93.684431; finalDepth = 94.784691; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.328234 # Actual altitude: 50 # Commanded vehicle depth:94.784691 # Seafloor depth:-137.112925 # 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 51.754363 meters # Minimum depth: 133.684431 meters looking forward 50.000000 meters along route # Maximum depth: 135.180635 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.684431 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.858727; longitude = -121.959448; captureRadius = 10; duration = 51; initialDepth = 93.454170; finalDepth = 93.684431; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.328234 # Actual altitude: 50 # Commanded vehicle depth:93.684431 # Seafloor depth:-135.077508 # 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 51.754363 meters # Minimum depth: 133.454170 meters looking forward 50.000000 meters along route # Maximum depth: 134.991409 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.454170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859139; longitude = -121.959694; captureRadius = 10; duration = 51; initialDepth = 93.511053; finalDepth = 93.454170; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.393077 # Actual altitude: 50 # Commanded vehicle depth:93.45417 # Seafloor depth:-134.343937 # 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 51.754363 meters # Minimum depth: 133.511053 meters looking forward 50.000000 meters along route # Maximum depth: 134.897147 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.511053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.859589; longitude = -121.959963; captureRadius = 10; duration = 51; initialDepth = 93.511053; finalDepth = 93.511053; maxCrossTrackError = MAXCROSSTRACKERROR; speed = MISSION_SPEED; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.889767 # Actual altitude: 50 # Commanded vehicle depth:93.511053 # Seafloor depth:-134.291714 # 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: 40.780661 # Sonar parameter altitude: 50 # Commanded vehicle depth:93.511053 # Seafloor depth:-134.076823 # 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 51.754363 meters # Minimum depth: 133.511053 meters looking forward 50.000000 meters along route # Maximum depth: 134.897147 meters looking forward 50.000000 meters along route # Maximum vehicle depth: 514.485352 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.511053 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.860010; longitude = -121.960214; captureRadius = 10; duration = 600; initialDepth = 93.511053; finalDepth = 93.511053; 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 = 153.739230; 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 = 153.739230; 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; } # ####################################################### #######################################################