# 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: SoquelCanyon_3v1.rte # Mission File: SoquelCanyon_3v1.cfg # Distance: 30132.360163 (m) # Estimated Time: 21858 (s) 6.072 (hr) # Abort Time: 28416 (s) # Max battery life: 64800 (s) # Safety margin: 1800 (s) # Ascend time: 300 (s) # Way Points: 23 # Route Points: 592 # 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: 559.956511 (m) # Abort Vehicle Depth: 584.956511 (m) # Descent Vehicle Depth: 3 (m) # Forward Looking Distance: (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 -121.949734 36.846987 -84.872068 0.000000 3 # 1 -121.969966 36.855188 -100.914064 2020.324781 3 # 2 -121.974263 36.848219 -97.788834 2883.193202 3 # 3 -121.953414 36.839522 -91.714312 4977.710481 3 # 4 -121.956796 36.833739 -97.321447 5686.639192 3 # 5 -121.977476 36.842301 -103.379845 7761.014800 3 # 6 -121.980951 36.837434 -92.646450 8383.564956 3 # 7 -121.960476 36.827625 -96.477812 10509.211847 3 # 8 -121.963334 36.824471 -94.378784 10942.117329 3 # 9 -121.992421 36.831861 -98.399099 13662.729843 3 # 10 -122.002360 36.828962 -95.246624 14605.640849 3 # 11 -121.988442 36.821948 -487.097610 16070.689819 1 # 12 -121.984314 36.821212 -423.436890 16447.821880 1 # 13 -121.976691 36.816931 -103.941727 17277.208524 3 # 14 -121.976187 36.808549 -99.570234 18208.203337 1 # 15 -121.978074 36.806446 -122.333094 18495.902085 3 # 16 -122.010692 36.822398 -97.990850 21901.398042 4 # 17 -122.011476 36.821137 -98.493530 22057.857773 3 # 18 -121.978877 36.805395 -120.038794 25449.898098 4 # 19 -121.979774 36.804223 -141.928715 25602.573055 3 # 20 -122.009235 36.818568 -130.477016 28674.919779 3 # 21 -122.004247 36.822849 -121.950527 29325.686243 1 # 22 -121.998138 36.828211 -102.694010 30132.360163 4 # # A total of 592 mission points have been defined. # # Define Mission parameters: # ####################################################### # Set Mission Behaviors # # mission timer set to 120% of estimated time of mission behavior missionTimer { timeOut = 23400; } # # depth envelope behavior depthEnvelope { minDepth = 0; maxDepth = 559.956511; abortDepth = 584.956511; minAltitude = 50.000000; abortAltitude = 30.000000; } ####################################################### # Set End-of-Mission Behaviors # # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } # # ascend behavior behavior ascend { duration = 300; horizontalMode = rudder; horizontal = 3.000000; pitch = 45.000000; speed = 1.500000; endDepth = 2.000000; } # # Acoustic update - sent status ping after end of survey # behavior acousticUpdate { duration = 2; dummy = 1; } # # Turn off power to sonars and stop logging on the PLC # by setting the value of the mode attribute to 0 (used to be False). behavior reson { duration = 6; MB_Power = 0; SBP_Mode = 0; LoSS_Mode = 0; HiSS_Mode = 0; Log_Mode = 0; } ####################################################### # # # Waypoint_depth behavior to get to end of line 22 # Segment length 51.801962 meters # Minimum depth: 102.694010 meters looking forward 0.000000 meters along route # Maximum depth: 102.694010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.694010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828211; longitude = -121.998138; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 68.866482; finalDepth = 62.694010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.69401 # Seafloor depth:-102.694010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 108.866482 meters looking forward 0.000000 meters along route # Maximum depth: 108.866482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.866482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828031; longitude = -121.998343; captureRadius = 10; duration = 51; initialDepth = 76.546352; finalDepth = 68.866482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.866482 # Seafloor depth:-108.866482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 116.546352 meters looking forward 0.000000 meters along route # Maximum depth: 116.546352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.546352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827686; longitude = -121.998737; captureRadius = 10; duration = 51; initialDepth = 92.046782; finalDepth = 76.546352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.546352 # Seafloor depth:-116.546352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 138.212660 meters looking forward 0.000000 meters along route # Maximum depth: 138.212660 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 92.046782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827342; longitude = -121.999128; captureRadius = 10; duration = 51; initialDepth = 107.587703; finalDepth = 92.046782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1658780000003 # Actual altitude: 50 # Commanded vehicle depth:92.0467819999997 # Seafloor depth:-138.212660 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 161.620360 meters looking forward 0.000000 meters along route # Maximum depth: 161.620360 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.587703 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826998; longitude = -121.999520; captureRadius = 10; duration = 51; initialDepth = 123.322471; finalDepth = 107.587703; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0326572999999 # Actual altitude: 54.0326572999999 # Commanded vehicle depth:107.5877027 # Seafloor depth:-161.620360 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 173.278257 meters looking forward 0.000000 meters along route # Maximum depth: 173.278257 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.322471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826649; longitude = -121.999917; captureRadius = 10; duration = 51; initialDepth = 109.758256; finalDepth = 123.322471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0326572999999 # Actual altitude: 54.0326572999999 # Commanded vehicle depth:123.3224714 # Seafloor depth:-173.278257 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 149.758256 meters looking forward 0.000000 meters along route # Maximum depth: 149.758256 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.758256 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826309; longitude = -122.000305; captureRadius = 10; duration = 51; initialDepth = 82.938616; finalDepth = 109.758256; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.9557856000005 # Actual altitude: 50 # Commanded vehicle depth:109.758256 # Seafloor depth:-149.758256 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 122.938616 meters looking forward 0.000000 meters along route # Maximum depth: 122.938616 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.938616 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825965; longitude = -122.000697; captureRadius = 10; duration = 51; initialDepth = 71.026876; finalDepth = 82.938616; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.938616 # Seafloor depth:-122.938616 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 111.026876 meters looking forward 0.000000 meters along route # Maximum depth: 111.026876 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.026876 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825613; longitude = -122.001098; captureRadius = 10; duration = 51; initialDepth = 61.268120; finalDepth = 71.026876; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.026876 # Seafloor depth:-111.026876 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 101.268120 meters looking forward 0.000000 meters along route # Maximum depth: 101.268120 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.268120 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825276; longitude = -122.001482; captureRadius = 10; duration = 51; initialDepth = 54.778483; finalDepth = 61.268120; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.26812 # Seafloor depth:-101.268120 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 94.778483 meters looking forward 0.000000 meters along route # Maximum depth: 94.778483 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.778483 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824932; longitude = -122.001874; captureRadius = 10; duration = 51; initialDepth = 57.252243; finalDepth = 54.778483; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.778483 # Seafloor depth:-94.778483 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 97.252243 meters looking forward 0.000000 meters along route # Maximum depth: 97.252243 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.252243 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824576; longitude = -122.002279; captureRadius = 10; duration = 51; initialDepth = 59.703852; finalDepth = 57.252243; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.252243 # Seafloor depth:-97.252243 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 99.703852 meters looking forward 0.000000 meters along route # Maximum depth: 99.703852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.703852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824243; longitude = -122.002659; captureRadius = 10; duration = 51; initialDepth = 64.503361; finalDepth = 59.703852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.703852 # Seafloor depth:-99.703852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 104.503361 meters looking forward 0.000000 meters along route # Maximum depth: 104.503361 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.503361 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823899; longitude = -122.003051; captureRadius = 10; duration = 51; initialDepth = 70.979032; finalDepth = 64.503361; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.503361 # Seafloor depth:-104.503361 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 110.979032 meters looking forward 0.000000 meters along route # Maximum depth: 110.979032 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.979032 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823554; longitude = -122.003443; captureRadius = 10; duration = 51; initialDepth = 79.286617; finalDepth = 70.979032; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.979032 # Seafloor depth:-110.979032 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 22 # Segment length 51.801962 meters # Minimum depth: 119.286617 meters looking forward 0.000000 meters along route # Maximum depth: 119.286617 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.286617 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823210; longitude = -122.003836; captureRadius = 10; duration = 51; initialDepth = 81.950527; finalDepth = 79.286617; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.286617 # Seafloor depth:-119.286617 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 21 # Segment length 51.801962 meters # Minimum depth: 121.950527 meters looking forward 0.000000 meters along route # Maximum depth: 121.950527 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.950527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822849; longitude = -122.004247; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 84.370065; finalDepth = 81.950527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.950527 # Seafloor depth:-121.950527 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 124.370065 meters looking forward 0.000000 meters along route # Maximum depth: 124.370065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.370065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822625; longitude = -122.004508; captureRadius = 10; duration = 51; initialDepth = 94.952552; finalDepth = 84.370065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.370065 # Seafloor depth:-124.370065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 134.952552 meters looking forward 0.000000 meters along route # Maximum depth: 134.952552 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.952552 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822288; longitude = -122.004901; captureRadius = 10; duration = 51; initialDepth = 110.014892; finalDepth = 94.952552; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:94.952552 # Seafloor depth:-134.952552 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 150.014892 meters looking forward 0.000000 meters along route # Maximum depth: 150.014892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.014892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821951; longitude = -122.005293; captureRadius = 10; duration = 51; initialDepth = 112.806450; finalDepth = 110.014892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:110.014892 # Seafloor depth:-150.014892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 152.806450 meters looking forward 0.000000 meters along route # Maximum depth: 152.806450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.806450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821615; longitude = -122.005685; captureRadius = 10; duration = 51; initialDepth = 119.046902; finalDepth = 112.806450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.80645 # Seafloor depth:-152.806450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 159.046902 meters looking forward 0.000000 meters along route # Maximum depth: 159.046902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.046902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821278; longitude = -122.006077; captureRadius = 10; duration = 51; initialDepth = 106.690288; finalDepth = 119.046902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:119.046902 # Seafloor depth:-159.046902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 146.690288 meters looking forward 0.000000 meters along route # Maximum depth: 146.690288 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.690288 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820941; longitude = -122.006470; captureRadius = 10; duration = 51; initialDepth = 101.292172; finalDepth = 106.690288; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:106.690288 # Seafloor depth:-146.690288 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 141.292172 meters looking forward 0.000000 meters along route # Maximum depth: 141.292172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.292172 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820605; longitude = -122.006862; captureRadius = 10; duration = 51; initialDepth = 97.622937; finalDepth = 101.292172; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.292172 # Seafloor depth:-141.292172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 137.622937 meters looking forward 0.000000 meters along route # Maximum depth: 137.622937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 97.622937 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820268; longitude = -122.007254; captureRadius = 10; duration = 51; initialDepth = 94.302303; finalDepth = 97.622937; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:97.622937 # Seafloor depth:-137.622937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 134.302303 meters looking forward 0.000000 meters along route # Maximum depth: 134.302303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 94.302303 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819931; longitude = -122.007647; captureRadius = 10; duration = 51; initialDepth = 91.413073; finalDepth = 94.302303; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:94.302303 # Seafloor depth:-134.302303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 131.413073 meters looking forward 0.000000 meters along route # Maximum depth: 131.413073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.413073 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819594; longitude = -122.008039; captureRadius = 10; duration = 51; initialDepth = 90.208914; finalDepth = 91.413073; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.413073 # Seafloor depth:-131.413073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 130.208914 meters looking forward 0.000000 meters along route # Maximum depth: 130.208914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.208914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819258; longitude = -122.008431; captureRadius = 10; duration = 51; initialDepth = 88.327677; finalDepth = 90.208914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.208914 # Seafloor depth:-130.208914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 21 # Segment length 51.801962 meters # Minimum depth: 128.327677 meters looking forward 0.000000 meters along route # Maximum depth: 128.327677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.327677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818898; longitude = -122.008850; captureRadius = 10; duration = 51; initialDepth = 90.477016; finalDepth = 88.327677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:88.327677 # Seafloor depth:-128.327677 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 20 # Segment length 51.801962 meters # Minimum depth: 130.477016 meters looking forward 0.000000 meters along route # Maximum depth: 130.477016 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.477016 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818568; longitude = -122.009235; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 95.247020; finalDepth = 90.477016; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.477016 # Seafloor depth:-130.477016 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 135.247020 meters looking forward 0.000000 meters along route # Maximum depth: 135.247020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.247020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818477; longitude = -122.009048; captureRadius = 10; duration = 51; initialDepth = 107.366279; finalDepth = 95.247020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:95.24702 # Seafloor depth:-135.247020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 147.366279 meters looking forward 0.000000 meters along route # Maximum depth: 147.366279 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.366279 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818223; longitude = -122.008526; captureRadius = 10; duration = 51; initialDepth = 122.586843; finalDepth = 107.366279; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:107.366279 # Seafloor depth:-147.366279 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 162.600241 meters looking forward 0.000000 meters along route # Maximum depth: 162.600241 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.586843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817986; longitude = -122.008039; captureRadius = 10; duration = 51; initialDepth = 138.366310; finalDepth = 122.586843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.0133981 # Actual altitude: 50 # Commanded vehicle depth:122.5868429 # Seafloor depth:-162.600241 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 181.255901 meters looking forward 0.000000 meters along route # Maximum depth: 181.255901 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 138.366310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817740; longitude = -122.007535; captureRadius = 10; duration = 51; initialDepth = 154.145815; finalDepth = 138.366310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.8895909000008 # Actual altitude: 50 # Commanded vehicle depth:138.366310099999 # Seafloor depth:-181.255901 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 202.172285 meters looking forward 0.000000 meters along route # Maximum depth: 202.172285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.145815 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817494; longitude = -122.007030; captureRadius = 10; duration = 51; initialDepth = 169.925359; finalDepth = 154.145815; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.0264696000006 # Actual altitude: 50 # Commanded vehicle depth:154.145815399999 # Seafloor depth:-202.172285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 218.802089 meters looking forward 0.000000 meters along route # Maximum depth: 218.802089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 169.925359 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817249; longitude = -122.006526; captureRadius = 10; duration = 51; initialDepth = 185.704941; finalDepth = 169.925359; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8767299000006 # Actual altitude: 50 # Commanded vehicle depth:169.925359099999 # Seafloor depth:-218.802089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 234.606730 meters looking forward 0.000000 meters along route # Maximum depth: 234.606730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.704941 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817003; longitude = -122.006021; captureRadius = 10; duration = 51; initialDepth = 201.484561; finalDepth = 185.704941; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9017891000007 # Actual altitude: 50 # Commanded vehicle depth:185.704940899999 # Seafloor depth:-234.606730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 246.300467 meters looking forward 0.000000 meters along route # Maximum depth: 246.300467 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.484561 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816758; longitude = -122.005517; captureRadius = 10; duration = 51; initialDepth = 217.382520; finalDepth = 201.484561; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.9017891000007 # Actual altitude: 50 # Commanded vehicle depth:201.4845611 # Seafloor depth:-246.300467 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 282.974522 meters looking forward 0.000000 meters along route # Maximum depth: 282.974522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.382520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816510; longitude = -122.005009; captureRadius = 10; duration = 51; initialDepth = 233.043916; finalDepth = 217.382520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.5920017999999 # Actual altitude: 65.5920017999999 # Commanded vehicle depth:217.3825202 # Seafloor depth:-282.974522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 262.37; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.24; MB_Bottom_Detect_Filter_Max_Range = 262.37; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 196.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 299.322394 meters looking forward 0.000000 meters along route # Maximum depth: 299.322394 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.043916 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816266; longitude = -122.004508; captureRadius = 10; duration = 51; initialDepth = 249.229674; finalDepth = 233.043916; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.2784779000008 # Actual altitude: 66.2784779000008 # Commanded vehicle depth:233.043916099999 # Seafloor depth:-299.322394 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.11; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.51; MB_Bottom_Detect_Filter_Max_Range = 265.11; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 198.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 327.063676 meters looking forward 0.000000 meters along route # Maximum depth: 327.063676 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.229674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816015; longitude = -122.003991; captureRadius = 10; duration = 51; initialDepth = 264.603424; finalDepth = 249.229674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 77.8340021000005 # Actual altitude: 77.8340021000005 # Commanded vehicle depth:249.2296739 # Seafloor depth:-327.063676 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 311.34; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 31.13; MB_Bottom_Detect_Filter_Max_Range = 311.34; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 233.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 346.542669 meters looking forward 0.000000 meters along route # Maximum depth: 346.542669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.603424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815775; longitude = -122.003499; captureRadius = 10; duration = 51; initialDepth = 281.076984; finalDepth = 264.603424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9392446 # Actual altitude: 81.9392446 # Commanded vehicle depth:264.6034244 # Seafloor depth:-346.542669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 327.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 362.431590 meters looking forward 0.000000 meters along route # Maximum depth: 362.431590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.076984 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815519; longitude = -122.002973; captureRadius = 10; duration = 51; initialDepth = 296.163086; finalDepth = 281.076984; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.9392446 # Actual altitude: 81.9392446 # Commanded vehicle depth:281.076983599999 # Seafloor depth:-362.431590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 327.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.78; MB_Bottom_Detect_Filter_Max_Range = 327.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 245.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 371.781295 meters looking forward 0.000000 meters along route # Maximum depth: 371.781295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.163086 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815284; longitude = -122.002491; captureRadius = 10; duration = 51; initialDepth = 311.942974; finalDepth = 296.163086; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.3546064000006 # Actual altitude: 81.3546064000006 # Commanded vehicle depth:296.1630857 # Seafloor depth:-371.781295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 325.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.54; MB_Bottom_Detect_Filter_Max_Range = 325.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 244.06; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 377.164653 meters looking forward 0.000000 meters along route # Maximum depth: 377.164653 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.942974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815038; longitude = -122.001986; captureRadius = 10; duration = 51; initialDepth = 327.722900; finalDepth = 311.942974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.6182092999998 # Actual altitude: 75.6182092999998 # Commanded vehicle depth:311.9429738 # Seafloor depth:-377.164653 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 302.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.25; MB_Bottom_Detect_Filter_Max_Range = 302.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 226.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 374.788662 meters looking forward 0.000000 meters along route # Maximum depth: 374.788662 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 327.722900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814793; longitude = -122.001482; captureRadius = 10; duration = 51; initialDepth = 339.791286; finalDepth = 327.722900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 65.2216791999999 # Actual altitude: 65.2216791999999 # Commanded vehicle depth:327.7229003 # Seafloor depth:-374.788662 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 260.89; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.09; MB_Bottom_Detect_Filter_Max_Range = 260.89; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 195.67; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 379.791286 meters looking forward 0.000000 meters along route # Maximum depth: 379.791286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 339.791286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814547; longitude = -122.000977; captureRadius = 10; duration = 51; initialDepth = 355.571289; finalDepth = 339.791286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.0657617000002 # Actual altitude: 50 # Commanded vehicle depth:339.791286 # Seafloor depth:-379.791286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 400.635652 meters looking forward 0.000000 meters along route # Maximum depth: 400.635652 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.571289 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814302; longitude = -122.000473; captureRadius = 10; duration = 51; initialDepth = 371.351330; finalDepth = 355.571289; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.0643629999994 # Actual altitude: 50 # Commanded vehicle depth:355.571289000001 # Seafloor depth:-400.635652 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 421.732307 meters looking forward 0.000000 meters along route # Maximum depth: 421.732307 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.351330 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814056; longitude = -121.999969; captureRadius = 10; duration = 51; initialDepth = 387.384584; finalDepth = 371.351330; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.3809769000001 # Actual altitude: 50.3809769000001 # Commanded vehicle depth:371.3513301 # Seafloor depth:-421.732307 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 201.52; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.15; MB_Bottom_Detect_Filter_Max_Range = 201.52; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 151.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 444.989595 meters looking forward 0.000000 meters along route # Maximum depth: 444.989595 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 387.384584 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813807; longitude = -121.999456; captureRadius = 10; duration = 51; initialDepth = 402.911527; finalDepth = 387.384584; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.6050114999996 # Actual altitude: 57.6050114999996 # Commanded vehicle depth:387.3845835 # Seafloor depth:-444.989595 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 230.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 458.202143 meters looking forward 0.000000 meters along route # Maximum depth: 458.202143 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 402.911527 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813565; longitude = -121.998960; captureRadius = 10; duration = 51; initialDepth = 419.232588; finalDepth = 402.911527; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.6050114999996 # Actual altitude: 57.6050114999996 # Commanded vehicle depth:402.9115272 # Seafloor depth:-458.202143 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 230.42; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.04; MB_Bottom_Detect_Filter_Max_Range = 230.42; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 172.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 476.556388 meters looking forward 0.000000 meters along route # Maximum depth: 476.556388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.232588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813311; longitude = -121.998438; captureRadius = 10; duration = 51; initialDepth = 434.471878; finalDepth = 419.232588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3237999999993 # Actual altitude: 57.3237999999993 # Commanded vehicle depth:419.232588000001 # Seafloor depth:-476.556388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 489.251455 meters looking forward 0.000000 meters along route # Maximum depth: 489.251455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 434.471878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813074; longitude = -121.997951; captureRadius = 10; duration = 51; initialDepth = 450.252110; finalDepth = 434.471878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.3237999999993 # Actual altitude: 57.3237999999993 # Commanded vehicle depth:434.4718776 # Seafloor depth:-489.251455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 229.30; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.93; MB_Bottom_Detect_Filter_Max_Range = 229.30; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 171.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 502.445193 meters looking forward 0.000000 meters along route # Maximum depth: 502.445193 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 450.252110 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812828; longitude = -121.997447; captureRadius = 10; duration = 51; initialDepth = 466.032381; finalDepth = 450.252110; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7795773999999 # Actual altitude: 54.7795773999999 # Commanded vehicle depth:450.252110100001 # Seafloor depth:-502.445193 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.12; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.91; MB_Bottom_Detect_Filter_Max_Range = 219.12; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.34; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 513.048159 meters looking forward 0.000000 meters along route # Maximum depth: 513.048159 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 466.032381 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812582; longitude = -121.996942; captureRadius = 10; duration = 51; initialDepth = 481.812690; finalDepth = 466.032381; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 52.1930828999991 # Actual altitude: 52.1930828999991 # Commanded vehicle depth:466.032381000001 # Seafloor depth:-513.048159 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 208.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.88; MB_Bottom_Detect_Filter_Max_Range = 208.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 156.58; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 531.474040 meters looking forward 0.000000 meters along route # Maximum depth: 531.474040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 481.812690 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812337; longitude = -121.996438; captureRadius = 10; duration = 51; initialDepth = 497.593038; finalDepth = 481.812690; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6613496999999 # Actual altitude: 50 # Commanded vehicle depth:481.8126903 # Seafloor depth:-531.474040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 551.901937 meters looking forward 0.000000 meters along route # Maximum depth: 551.901937 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.593038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812091; longitude = -121.995933; captureRadius = 10; duration = 51; initialDepth = 513.373424; finalDepth = 497.593038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3088992999996 # Actual altitude: 54.3088992999996 # Commanded vehicle depth:497.5930377 # Seafloor depth:-551.901937 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 565.104883 meters looking forward 0.000000 meters along route # Maximum depth: 565.104883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 513.373424 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811846; longitude = -121.995429; captureRadius = 10; duration = 51; initialDepth = 527.082884; finalDepth = 513.373424; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.3088992999996 # Actual altitude: 54.3088992999996 # Commanded vehicle depth:513.373423500001 # Seafloor depth:-565.104883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 217.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.72; MB_Bottom_Detect_Filter_Max_Range = 217.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 567.082884 meters looking forward 0.000000 meters along route # Maximum depth: 567.082884 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.082884 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811598; longitude = -121.994921; captureRadius = 10; duration = 51; initialDepth = 529.796352; finalDepth = 527.082884; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.7314594999992 # Actual altitude: 51.7314594999992 # Commanded vehicle depth:527.082884 # Seafloor depth:-567.082884 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.69; MB_Bottom_Detect_Filter_Max_Range = 206.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 155.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 569.796352 meters looking forward 0.000000 meters along route # Maximum depth: 569.796352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 529.796352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811354; longitude = -121.994420; captureRadius = 10; duration = 51; initialDepth = 534.654089; finalDepth = 529.796352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:529.796352 # Seafloor depth:-569.796352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 574.654089 meters looking forward 0.000000 meters along route # Maximum depth: 574.654089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 534.654089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811103; longitude = -121.993903; captureRadius = 10; duration = 51; initialDepth = 538.785355; finalDepth = 534.654089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:534.654089 # Seafloor depth:-574.654089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 578.785355 meters looking forward 0.000000 meters along route # Maximum depth: 578.785355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 538.785355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810863; longitude = -121.993411; captureRadius = 10; duration = 51; initialDepth = 542.821087; finalDepth = 538.785355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:538.785355 # Seafloor depth:-578.785355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 582.821087 meters looking forward 0.000000 meters along route # Maximum depth: 582.821087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.821087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810607; longitude = -121.992885; captureRadius = 10; duration = 51; initialDepth = 544.956511; finalDepth = 542.821087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.821087 # Seafloor depth:-582.821087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 584.956511 meters looking forward 0.000000 meters along route # Maximum depth: 584.956511 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 544.956511 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810372; longitude = -121.992403; captureRadius = 10; duration = 51; initialDepth = 542.731025; finalDepth = 544.956511; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:544.956511 # Seafloor depth:-584.956511 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 582.731025 meters looking forward 0.000000 meters along route # Maximum depth: 582.731025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 542.731025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810126; longitude = -121.991898; captureRadius = 10; duration = 51; initialDepth = 510.136433; finalDepth = 542.731025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:542.731025 # Seafloor depth:-582.731025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 550.136433 meters looking forward 0.000000 meters along route # Maximum depth: 550.136433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.136433 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809881; longitude = -121.991394; captureRadius = 10; duration = 51; initialDepth = 501.173469; finalDepth = 510.136433; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.136433 # Seafloor depth:-550.136433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 541.173469 meters looking forward 0.000000 meters along route # Maximum depth: 541.173469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 501.173469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809635; longitude = -121.990889; captureRadius = 10; duration = 51; initialDepth = 464.662157; finalDepth = 501.173469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:501.173469 # Seafloor depth:-541.173469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 504.662157 meters looking forward 0.000000 meters along route # Maximum depth: 504.662157 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.662157 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809390; longitude = -121.990385; captureRadius = 10; duration = 51; initialDepth = 429.058115; finalDepth = 464.662157; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.662157 # Seafloor depth:-504.662157 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 469.058115 meters looking forward 0.000000 meters along route # Maximum depth: 469.058115 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 429.058115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809144; longitude = -121.989881; captureRadius = 10; duration = 51; initialDepth = 405.961996; finalDepth = 429.058115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:429.058115 # Seafloor depth:-469.058115 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 445.961996 meters looking forward 0.000000 meters along route # Maximum depth: 445.961996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 405.961996 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808895; longitude = -121.989369; captureRadius = 10; duration = 51; initialDepth = 381.768114; finalDepth = 405.961996; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:405.961996 # Seafloor depth:-445.961996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 421.768114 meters looking forward 0.000000 meters along route # Maximum depth: 421.768114 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 381.768114 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808653; longitude = -121.988872; captureRadius = 10; duration = 51; initialDepth = 362.725164; finalDepth = 381.768114; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:381.768114 # Seafloor depth:-421.768114 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 402.725164 meters looking forward 0.000000 meters along route # Maximum depth: 402.725164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.725164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808399; longitude = -121.988351; captureRadius = 10; duration = 51; initialDepth = 348.113058; finalDepth = 362.725164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.725164 # Seafloor depth:-402.725164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 388.113058 meters looking forward 0.000000 meters along route # Maximum depth: 388.113058 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.113058 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808162; longitude = -121.987863; captureRadius = 10; duration = 51; initialDepth = 336.587061; finalDepth = 348.113058; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.113058 # Seafloor depth:-388.113058 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 376.587061 meters looking forward 0.000000 meters along route # Maximum depth: 376.587061 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.587061 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807916; longitude = -121.987359; captureRadius = 10; duration = 51; initialDepth = 326.623372; finalDepth = 336.587061; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:336.587061 # Seafloor depth:-376.587061 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 366.623372 meters looking forward 0.000000 meters along route # Maximum depth: 366.623372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.623372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807670; longitude = -121.986854; captureRadius = 10; duration = 51; initialDepth = 315.491102; finalDepth = 326.623372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:326.623372 # Seafloor depth:-366.623372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 355.491102 meters looking forward 0.000000 meters along route # Maximum depth: 355.491102 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.491102 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807425; longitude = -121.986350; captureRadius = 10; duration = 51; initialDepth = 299.948736; finalDepth = 315.491102; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.491102 # Seafloor depth:-355.491102 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 339.948736 meters looking forward 0.000000 meters along route # Maximum depth: 339.948736 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.948736 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807179; longitude = -121.985845; captureRadius = 10; duration = 51; initialDepth = 284.601845; finalDepth = 299.948736; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.948736 # Seafloor depth:-339.948736 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 324.601845 meters looking forward 0.000000 meters along route # Maximum depth: 324.601845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 284.601845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806934; longitude = -121.985341; captureRadius = 10; duration = 51; initialDepth = 270.549609; finalDepth = 284.601845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:284.601845 # Seafloor depth:-324.601845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 310.549609 meters looking forward 0.000000 meters along route # Maximum depth: 310.549609 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 270.549609 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806687; longitude = -121.984834; captureRadius = 10; duration = 51; initialDepth = 253.839352; finalDepth = 270.549609; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:270.549609 # Seafloor depth:-310.549609 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 293.839352 meters looking forward 0.000000 meters along route # Maximum depth: 293.839352 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 253.839352 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806442; longitude = -121.984332; captureRadius = 10; duration = 51; initialDepth = 240.896043; finalDepth = 253.839352; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:253.839352 # Seafloor depth:-293.839352 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 280.896043 meters looking forward 0.000000 meters along route # Maximum depth: 280.896043 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 240.896043 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806191; longitude = -121.983816; captureRadius = 10; duration = 51; initialDepth = 226.012807; finalDepth = 240.896043; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:240.896043 # Seafloor depth:-280.896043 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 266.012807 meters looking forward 0.000000 meters along route # Maximum depth: 266.012807 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.012807 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805951; longitude = -121.983323; captureRadius = 10; duration = 51; initialDepth = 210.088677; finalDepth = 226.012807; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:226.012807 # Seafloor depth:-266.012807 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 250.088677 meters looking forward 0.000000 meters along route # Maximum depth: 250.088677 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 210.088677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805695; longitude = -121.982798; captureRadius = 10; duration = 51; initialDepth = 193.904664; finalDepth = 210.088677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:210.088677 # Seafloor depth:-250.088677 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 233.904664 meters looking forward 0.000000 meters along route # Maximum depth: 233.904664 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.904664 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805460; longitude = -121.982315; captureRadius = 10; duration = 51; initialDepth = 172.770771; finalDepth = 193.904664; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:193.904664 # Seafloor depth:-233.904664 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 212.770771 meters looking forward 0.000000 meters along route # Maximum depth: 212.770771 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 172.770771 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805214; longitude = -121.981810; captureRadius = 10; duration = 51; initialDepth = 154.016760; finalDepth = 172.770771; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:172.770771 # Seafloor depth:-212.770771 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 194.016760 meters looking forward 0.000000 meters along route # Maximum depth: 194.016760 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.016760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804969; longitude = -121.981306; captureRadius = 10; duration = 51; initialDepth = 133.246608; finalDepth = 154.016760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:154.01676 # Seafloor depth:-194.016760 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 173.246608 meters looking forward 0.000000 meters along route # Maximum depth: 173.246608 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.246608 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804723; longitude = -121.980801; captureRadius = 10; duration = 51; initialDepth = 124.274174; finalDepth = 133.246608; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:133.246608 # Seafloor depth:-173.246608 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 20 # Segment length 51.801962 meters # Minimum depth: 164.274174 meters looking forward 0.000000 meters along route # Maximum depth: 164.274174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.274174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804478; longitude = -121.980297; captureRadius = 10; duration = 51; initialDepth = 101.928715; finalDepth = 124.274174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:124.274174 # Seafloor depth:-164.274174 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 19 # Segment length 51.801962 meters # Minimum depth: 141.928715 meters looking forward 0.000000 meters along route # Maximum depth: 141.928715 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.928715 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804223; longitude = -121.979774; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 89.801667; finalDepth = 101.928715; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:101.928715 # Seafloor depth:-141.928715 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.801962 meters # Minimum depth: 129.801667 meters looking forward 0.000000 meters along route # Maximum depth: 129.801667 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.801667 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.804614; longitude = -121.979475; captureRadius = 10; duration = 51; initialDepth = 81.987167; finalDepth = 89.801667; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:89.801667 # Seafloor depth:-129.801667 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 19 # Segment length 51.801962 meters # Minimum depth: 121.987167 meters looking forward 0.000000 meters along route # Maximum depth: 121.987167 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.987167 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805004; longitude = -121.979176; captureRadius = 10; duration = 51; initialDepth = 80.038794; finalDepth = 81.987167; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.987167 # Seafloor depth:-121.987167 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 18 # Segment length 51.801962 meters # Minimum depth: 120.038794 meters looking forward 0.000000 meters along route # Maximum depth: 120.038794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.038794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805395; longitude = -121.978877; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 89.375772; finalDepth = 80.038794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:80.038794 # Seafloor depth:-120.038794 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 133.079816 meters looking forward 0.000000 meters along route # Maximum depth: 133.079816 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.375772 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805539; longitude = -121.979176; captureRadius = 10; duration = 51; initialDepth = 105.286819; finalDepth = 89.375772; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.7040443 # Actual altitude: 50 # Commanded vehicle depth:89.3757717 # Seafloor depth:-133.079816 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 148.985070 meters looking forward 0.000000 meters along route # Maximum depth: 148.985070 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 105.286819 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.805786; longitude = -121.979686; captureRadius = 10; duration = 51; initialDepth = 120.868507; finalDepth = 105.286819; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.7040443 # Actual altitude: 50 # Commanded vehicle depth:105.286819200001 # Seafloor depth:-148.985070 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 165.421218 meters looking forward 0.000000 meters along route # Maximum depth: 165.421218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.868507 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806027; longitude = -121.980185; captureRadius = 10; duration = 51; initialDepth = 137.332249; finalDepth = 120.868507; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.5527107999993 # Actual altitude: 50 # Commanded vehicle depth:120.868507200001 # Seafloor depth:-165.421218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 186.034773 meters looking forward 0.000000 meters along route # Maximum depth: 186.034773 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.332249 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806281; longitude = -121.980712; captureRadius = 10; duration = 51; initialDepth = 152.361091; finalDepth = 137.332249; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7025243999992 # Actual altitude: 50 # Commanded vehicle depth:137.332248600001 # Seafloor depth:-186.034773 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 200.614201 meters looking forward 0.000000 meters along route # Maximum depth: 200.614201 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.361091 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806514; longitude = -121.981194; captureRadius = 10; duration = 51; initialDepth = 168.107325; finalDepth = 152.361091; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.7025243999992 # Actual altitude: 50 # Commanded vehicle depth:152.3610906 # Seafloor depth:-200.614201 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 213.954422 meters looking forward 0.000000 meters along route # Maximum depth: 213.954422 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 168.107325 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806757; longitude = -121.981698; captureRadius = 10; duration = 51; initialDepth = 183.943501; finalDepth = 168.107325; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.2531103999999 # Actual altitude: 50 # Commanded vehicle depth:168.107325 # Seafloor depth:-213.954422 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 226.968973 meters looking forward 0.000000 meters along route # Maximum depth: 226.968973 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.943501 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807002; longitude = -121.982205; captureRadius = 10; duration = 51; initialDepth = 199.599680; finalDepth = 183.943501; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.8470969999999 # Actual altitude: 50 # Commanded vehicle depth:183.943500900001 # Seafloor depth:-226.968973 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 242.176996 meters looking forward 0.000000 meters along route # Maximum depth: 242.176996 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.599680 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807244; longitude = -121.982707; captureRadius = 10; duration = 51; initialDepth = 215.988543; finalDepth = 199.599680; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.0254720999993 # Actual altitude: 50 # Commanded vehicle depth:199.599679800001 # Seafloor depth:-242.176996 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 259.104313 meters looking forward 0.000000 meters along route # Maximum depth: 259.104313 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.988543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807498; longitude = -121.983232; captureRadius = 10; duration = 51; initialDepth = 231.091882; finalDepth = 215.988543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 43.1157696999994 # Actual altitude: 50 # Commanded vehicle depth:215.988543300001 # Seafloor depth:-259.104313 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 275.896328 meters looking forward 0.000000 meters along route # Maximum depth: 275.896328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 231.091882 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807732; longitude = -121.983716; captureRadius = 10; duration = 51; initialDepth = 246.837926; finalDepth = 231.091882; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.8044458000001 # Actual altitude: 50 # Commanded vehicle depth:231.0918822 # Seafloor depth:-275.896328 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 293.366416 meters looking forward 0.000000 meters along route # Maximum depth: 293.366416 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.837926 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807975; longitude = -121.984220; captureRadius = 10; duration = 51; initialDepth = 262.599233; finalDepth = 246.837926; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5284895999991 # Actual altitude: 50 # Commanded vehicle depth:246.837926400001 # Seafloor depth:-293.366416 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 310.648106 meters looking forward 0.000000 meters along route # Maximum depth: 310.648106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.599233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808219; longitude = -121.984725; captureRadius = 10; duration = 51; initialDepth = 278.329901; finalDepth = 262.599233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.048873499999 # Actual altitude: 50 # Commanded vehicle depth:262.599232500001 # Seafloor depth:-310.648106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 328.004246 meters looking forward 0.000000 meters along route # Maximum depth: 328.004246 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.329901 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808462; longitude = -121.985229; captureRadius = 10; duration = 51; initialDepth = 294.643888; finalDepth = 278.329901; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.6743454999997 # Actual altitude: 50 # Commanded vehicle depth:278.3299005 # Seafloor depth:-328.004246 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 345.844425 meters looking forward 0.000000 meters along route # Maximum depth: 345.844425 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 294.643888 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808715; longitude = -121.985752; captureRadius = 10; duration = 51; initialDepth = 309.821722; finalDepth = 294.643888; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.2005370999992 # Actual altitude: 51.2005370999992 # Commanded vehicle depth:294.643887900001 # Seafloor depth:-345.844425 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.80; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.48; MB_Bottom_Detect_Filter_Max_Range = 204.80; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.60; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 361.435220 meters looking forward 0.000000 meters along route # Maximum depth: 361.435220 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.821722 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808949; longitude = -121.986238; captureRadius = 10; duration = 51; initialDepth = 325.567576; finalDepth = 309.821722; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.6134980999995 # Actual altitude: 51.6134980999995 # Commanded vehicle depth:309.821721900001 # Seafloor depth:-361.435220 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 206.45; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.65; MB_Bottom_Detect_Filter_Max_Range = 206.45; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 154.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 380.328852 meters looking forward 0.000000 meters along route # Maximum depth: 380.328852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.567576 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809193; longitude = -121.986742; captureRadius = 10; duration = 51; initialDepth = 341.313392; finalDepth = 325.567576; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.7612760999995 # Actual altitude: 54.7612760999995 # Commanded vehicle depth:325.5675759 # Seafloor depth:-380.328852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 219.05; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.90; MB_Bottom_Detect_Filter_Max_Range = 219.05; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 164.28; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 403.732636 meters looking forward 0.000000 meters along route # Maximum depth: 403.732636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.313392 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809436; longitude = -121.987247; captureRadius = 10; duration = 51; initialDepth = 357.059169; finalDepth = 341.313392; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4192444999995 # Actual altitude: 62.4192444999995 # Commanded vehicle depth:341.313391500001 # Seafloor depth:-403.732636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.68; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.97; MB_Bottom_Detect_Filter_Max_Range = 249.68; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.26; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 426.305591 meters looking forward 0.000000 meters along route # Maximum depth: 426.305591 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.059169 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809680; longitude = -121.987751; captureRadius = 10; duration = 51; initialDepth = 373.298282; finalDepth = 357.059169; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 69.2464219999992 # Actual altitude: 69.2464219999992 # Commanded vehicle depth:357.059169000001 # Seafloor depth:-426.305591 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 276.99; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.70; MB_Bottom_Detect_Filter_Max_Range = 276.99; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 207.74; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 449.588918 meters looking forward 0.000000 meters along route # Maximum depth: 449.588918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.298282 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809931; longitude = -121.988271; captureRadius = 10; duration = 51; initialDepth = 388.550610; finalDepth = 373.298282; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.2906355999998 # Actual altitude: 76.2906355999998 # Commanded vehicle depth:373.2982824 # Seafloor depth:-449.588918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 305.16; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.52; MB_Bottom_Detect_Filter_Max_Range = 305.16; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 228.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 473.897404 meters looking forward 0.000000 meters along route # Maximum depth: 473.897404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.550610 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810167; longitude = -121.988760; captureRadius = 10; duration = 51; initialDepth = 404.296274; finalDepth = 388.550610; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 85.3467939999991 # Actual altitude: 85.3467939999991 # Commanded vehicle depth:388.550610000001 # Seafloor depth:-473.897404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 341.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 34.14; MB_Bottom_Detect_Filter_Max_Range = 341.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 256.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 500.963661 meters looking forward 0.000000 meters along route # Maximum depth: 500.963661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.296274 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810411; longitude = -121.989264; captureRadius = 10; duration = 51; initialDepth = 420.041899; finalDepth = 404.296274; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.6673874999992 # Actual altitude: 96.6673874999992 # Commanded vehicle depth:404.296273500001 # Seafloor depth:-500.963661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 386.67; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.67; MB_Bottom_Detect_Filter_Max_Range = 386.67; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 522.374817 meters looking forward 0.000000 meters along route # Maximum depth: 522.374817 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.041899 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810654; longitude = -121.989769; captureRadius = 10; duration = 51; initialDepth = 435.787486; finalDepth = 420.041899; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.332918399999 # Actual altitude: 100 # Commanded vehicle depth:420.041898600001 # Seafloor depth:-522.374817 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 533.790756 meters looking forward 0.000000 meters along route # Maximum depth: 533.790756 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 435.787486 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810898; longitude = -121.990273; captureRadius = 10; duration = 51; initialDepth = 451.951727; finalDepth = 435.787486; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 102.332918399999 # Actual altitude: 100 # Commanded vehicle depth:435.7874859 # Seafloor depth:-533.790756 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 543.929187 meters looking forward 0.000000 meters along route # Maximum depth: 543.929187 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.951727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811148; longitude = -121.990791; captureRadius = 10; duration = 51; initialDepth = 467.278546; finalDepth = 451.951727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 98.0032701000001 # Actual altitude: 98.0032701000001 # Commanded vehicle depth:451.9517268 # Seafloor depth:-543.929187 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 392.01; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.20; MB_Bottom_Detect_Filter_Max_Range = 392.01; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 294.01; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 567.005896 meters looking forward 0.000000 meters along route # Maximum depth: 567.005896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.278546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811385; longitude = -121.991282; captureRadius = 10; duration = 51; initialDepth = 483.024019; finalDepth = 467.278546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.7273498000001 # Actual altitude: 99.7273498000001 # Commanded vehicle depth:467.2785462 # Seafloor depth:-567.005896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 398.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 398.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 576.124778 meters looking forward 0.000000 meters along route # Maximum depth: 576.124778 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.024019 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811629; longitude = -121.991786; captureRadius = 10; duration = 51; initialDepth = 498.769454; finalDepth = 483.024019; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 99.7273498000001 # Actual altitude: 99.7273498000001 # Commanded vehicle depth:483.024019200001 # Seafloor depth:-576.124778 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 398.91; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 39.89; MB_Bottom_Detect_Filter_Max_Range = 398.91; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 299.18; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 575.613659 meters looking forward 0.000000 meters along route # Maximum depth: 575.613659 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 498.769454 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811872; longitude = -121.992291; captureRadius = 10; duration = 51; initialDepth = 514.514851; finalDepth = 498.769454; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.1007587999992 # Actual altitude: 93.1007587999992 # Commanded vehicle depth:498.769454100001 # Seafloor depth:-575.613659 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.40; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.24; MB_Bottom_Detect_Filter_Max_Range = 372.40; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.30; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 573.773686 meters looking forward 0.000000 meters along route # Maximum depth: 573.773686 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 514.514851 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812116; longitude = -121.992795; captureRadius = 10; duration = 51; initialDepth = 530.469997; finalDepth = 514.514851; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.8442048999992 # Actual altitude: 76.8442048999992 # Commanded vehicle depth:514.514850900001 # Seafloor depth:-573.773686 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 307.38; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.74; MB_Bottom_Detect_Filter_Max_Range = 307.38; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 230.53; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 570.469997 meters looking forward 0.000000 meters along route # Maximum depth: 570.469997 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 530.469997 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812365; longitude = -121.993310; captureRadius = 10; duration = 51; initialDepth = 526.643335; finalDepth = 530.469997; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 59.258835099999 # Actual altitude: 59.258835099999 # Commanded vehicle depth:530.469997 # Seafloor depth:-570.469997 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 237.04; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.70; MB_Bottom_Detect_Filter_Max_Range = 237.04; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 177.78; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 566.643335 meters looking forward 0.000000 meters along route # Maximum depth: 566.643335 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.643335 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812603; longitude = -121.993804; captureRadius = 10; duration = 51; initialDepth = 518.845493; finalDepth = 526.643335; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.643335 # Seafloor depth:-566.643335 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 558.845493 meters looking forward 0.000000 meters along route # Maximum depth: 558.845493 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 518.845493 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812846; longitude = -121.994308; captureRadius = 10; duration = 51; initialDepth = 515.533355; finalDepth = 518.845493; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:518.845493 # Seafloor depth:-558.845493 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 555.533355 meters looking forward 0.000000 meters along route # Maximum depth: 555.533355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 515.533355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813090; longitude = -121.994813; captureRadius = 10; duration = 51; initialDepth = 510.539648; finalDepth = 515.533355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:515.533355 # Seafloor depth:-555.533355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 550.539648 meters looking forward 0.000000 meters along route # Maximum depth: 550.539648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 510.539648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813333; longitude = -121.995317; captureRadius = 10; duration = 51; initialDepth = 496.045958; finalDepth = 510.539648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:510.539648 # Seafloor depth:-550.539648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 536.045958 meters looking forward 0.000000 meters along route # Maximum depth: 536.045958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 496.045958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813581; longitude = -121.995830; captureRadius = 10; duration = 51; initialDepth = 483.248828; finalDepth = 496.045958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:496.045958 # Seafloor depth:-536.045958 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 523.248828 meters looking forward 0.000000 meters along route # Maximum depth: 523.248828 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 483.248828 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813821; longitude = -121.996326; captureRadius = 10; duration = 51; initialDepth = 464.871341; finalDepth = 483.248828; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:483.248828 # Seafloor depth:-523.248828 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 504.871341 meters looking forward 0.000000 meters along route # Maximum depth: 504.871341 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.871341 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814064; longitude = -121.996830; captureRadius = 10; duration = 51; initialDepth = 452.472076; finalDepth = 464.871341; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.871341 # Seafloor depth:-504.871341 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 492.472076 meters looking forward 0.000000 meters along route # Maximum depth: 492.472076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 452.472076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814308; longitude = -121.997335; captureRadius = 10; duration = 51; initialDepth = 440.367401; finalDepth = 452.472076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:452.472076 # Seafloor depth:-492.472076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 480.367401 meters looking forward 0.000000 meters along route # Maximum depth: 480.367401 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 440.367401 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814551; longitude = -121.997839; captureRadius = 10; duration = 51; initialDepth = 424.706087; finalDepth = 440.367401; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:440.367401 # Seafloor depth:-480.367401 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 464.706087 meters looking forward 0.000000 meters along route # Maximum depth: 464.706087 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 424.706087 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814798; longitude = -121.998350; captureRadius = 10; duration = 51; initialDepth = 409.448514; finalDepth = 424.706087; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:424.706087 # Seafloor depth:-464.706087 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 449.448514 meters looking forward 0.000000 meters along route # Maximum depth: 449.448514 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 409.448514 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815038; longitude = -121.998848; captureRadius = 10; duration = 51; initialDepth = 392.705320; finalDepth = 409.448514; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:409.448514 # Seafloor depth:-449.448514 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 432.705320 meters looking forward 0.000000 meters along route # Maximum depth: 432.705320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.705320 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815282; longitude = -121.999352; captureRadius = 10; duration = 51; initialDepth = 382.646202; finalDepth = 392.705320; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.70532 # Seafloor depth:-432.705320 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 422.646202 meters looking forward 0.000000 meters along route # Maximum depth: 422.646202 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 382.646202 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815526; longitude = -121.999857; captureRadius = 10; duration = 51; initialDepth = 371.408629; finalDepth = 382.646202; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:382.646202 # Seafloor depth:-422.646202 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 411.408629 meters looking forward 0.000000 meters along route # Maximum depth: 411.408629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 371.408629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815769; longitude = -122.000361; captureRadius = 10; duration = 51; initialDepth = 362.298907; finalDepth = 371.408629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:371.408629 # Seafloor depth:-411.408629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 402.298907 meters looking forward 0.000000 meters along route # Maximum depth: 402.298907 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 362.298907 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816015; longitude = -122.000869; captureRadius = 10; duration = 51; initialDepth = 355.351436; finalDepth = 362.298907; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:362.298907 # Seafloor depth:-402.298907 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 395.351436 meters looking forward 0.000000 meters along route # Maximum depth: 395.351436 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 355.351436 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816256; longitude = -122.001370; captureRadius = 10; duration = 51; initialDepth = 348.354920; finalDepth = 355.351436; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:355.351436 # Seafloor depth:-395.351436 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 388.354920 meters looking forward 0.000000 meters along route # Maximum depth: 388.354920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 348.354920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816510; longitude = -122.001896; captureRadius = 10; duration = 51; initialDepth = 336.958027; finalDepth = 348.354920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:348.35492 # Seafloor depth:-388.354920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 376.958027 meters looking forward 0.000000 meters along route # Maximum depth: 376.958027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.958027 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816743; longitude = -122.002379; captureRadius = 10; duration = 51; initialDepth = 323.986106; finalDepth = 336.958027; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:336.958027 # Seafloor depth:-376.958027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 363.986106 meters looking forward 0.000000 meters along route # Maximum depth: 363.986106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 323.986106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816987; longitude = -122.002883; captureRadius = 10; duration = 51; initialDepth = 303.678668; finalDepth = 323.986106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:323.986106 # Seafloor depth:-363.986106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 343.678668 meters looking forward 0.000000 meters along route # Maximum depth: 343.678668 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 303.678668 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817231; longitude = -122.003389; captureRadius = 10; duration = 51; initialDepth = 282.768296; finalDepth = 303.678668; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:303.678668 # Seafloor depth:-343.678668 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 322.768296 meters looking forward 0.000000 meters along route # Maximum depth: 322.768296 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 282.768296 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817474; longitude = -122.003892; captureRadius = 10; duration = 51; initialDepth = 259.513311; finalDepth = 282.768296; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:282.768296 # Seafloor depth:-322.768296 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 299.513311 meters looking forward 0.000000 meters along route # Maximum depth: 299.513311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 259.513311 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817727; longitude = -122.004415; captureRadius = 10; duration = 51; initialDepth = 238.331967; finalDepth = 259.513311; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:259.513311 # Seafloor depth:-299.513311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 278.331967 meters looking forward 0.000000 meters along route # Maximum depth: 278.331967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.331967 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817961; longitude = -122.004901; captureRadius = 10; duration = 51; initialDepth = 215.745026; finalDepth = 238.331967; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:238.331967 # Seafloor depth:-278.331967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 255.745026 meters looking forward 0.000000 meters along route # Maximum depth: 255.745026 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.745026 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818205; longitude = -122.005405; captureRadius = 10; duration = 51; initialDepth = 185.795779; finalDepth = 215.745026; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:215.745026 # Seafloor depth:-255.745026 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 225.795779 meters looking forward 0.000000 meters along route # Maximum depth: 225.795779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.795779 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818448; longitude = -122.005909; captureRadius = 10; duration = 51; initialDepth = 164.690812; finalDepth = 185.795779; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:185.795779 # Seafloor depth:-225.795779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 204.690812 meters looking forward 0.000000 meters along route # Maximum depth: 204.690812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.690812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818692; longitude = -122.006414; captureRadius = 10; duration = 51; initialDepth = 140.815734; finalDepth = 164.690812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:164.690812 # Seafloor depth:-204.690812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 180.815734 meters looking forward 0.000000 meters along route # Maximum depth: 180.815734 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.815734 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818944; longitude = -122.006935; captureRadius = 10; duration = 51; initialDepth = 116.900632; finalDepth = 140.815734; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.815734 # Seafloor depth:-180.815734 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 156.900632 meters looking forward 0.000000 meters along route # Maximum depth: 156.900632 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.900632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819179; longitude = -122.007423; captureRadius = 10; duration = 51; initialDepth = 98.011571; finalDepth = 116.900632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.900632 # Seafloor depth:-156.900632 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 138.011571 meters looking forward 0.000000 meters along route # Maximum depth: 138.011571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.011571 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819423; longitude = -122.007927; captureRadius = 10; duration = 51; initialDepth = 85.329543; finalDepth = 98.011571; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:98.011571 # Seafloor depth:-138.011571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 125.329543 meters looking forward 0.000000 meters along route # Maximum depth: 125.329543 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.329543 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819666; longitude = -122.008431; captureRadius = 10; duration = 51; initialDepth = 73.362599; finalDepth = 85.329543; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:85.329543 # Seafloor depth:-125.329543 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 113.362599 meters looking forward 0.000000 meters along route # Maximum depth: 113.362599 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.362599 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819910; longitude = -122.008936; captureRadius = 10; duration = 51; initialDepth = 67.031785; finalDepth = 73.362599; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:73.362599 # Seafloor depth:-113.362599 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 107.031785 meters looking forward 0.000000 meters along route # Maximum depth: 107.031785 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.031785 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820160; longitude = -122.009455; captureRadius = 10; duration = 51; initialDepth = 62.850453; finalDepth = 67.031785; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.031785 # Seafloor depth:-107.031785 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 102.850453 meters looking forward 0.000000 meters along route # Maximum depth: 102.850453 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.850453 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820397; longitude = -122.009945; captureRadius = 10; duration = 51; initialDepth = 60.946903; finalDepth = 62.850453; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.850453 # Seafloor depth:-102.850453 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 100.946903 meters looking forward 0.000000 meters along route # Maximum depth: 100.946903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.946903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820640; longitude = -122.010449; captureRadius = 10; duration = 51; initialDepth = 59.109797; finalDepth = 60.946903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.946903 # Seafloor depth:-100.946903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 18 # Segment length 51.801962 meters # Minimum depth: 99.109797 meters looking forward 0.000000 meters along route # Maximum depth: 99.109797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.109797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820884; longitude = -122.010953; captureRadius = 10; duration = 51; initialDepth = 58.493530; finalDepth = 59.109797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.109797 # Seafloor depth:-99.109797 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 17 # Segment length 51.801962 meters # Minimum depth: 98.493530 meters looking forward 0.000000 meters along route # Maximum depth: 98.493530 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.493530 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821137; longitude = -122.011476; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 58.300878; finalDepth = 58.493530; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.49353 # Seafloor depth:-98.493530 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.801962 meters # Minimum depth: 98.300878 meters looking forward 0.000000 meters along route # Maximum depth: 98.300878 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.300878 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821152; longitude = -122.011467; captureRadius = 10; duration = 51; initialDepth = 57.692323; finalDepth = 58.300878; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.300878 # Seafloor depth:-98.300878 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.801962 meters # Minimum depth: 97.692323 meters looking forward 0.000000 meters along route # Maximum depth: 97.692323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.692323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821557; longitude = -122.011215; captureRadius = 10; duration = 51; initialDepth = 57.620943; finalDepth = 57.692323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.692323 # Seafloor depth:-97.692323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 17 # Segment length 51.801962 meters # Minimum depth: 97.620943 meters looking forward 0.000000 meters along route # Maximum depth: 97.620943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.620943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821978; longitude = -122.010953; captureRadius = 10; duration = 51; initialDepth = 57.990850; finalDepth = 57.620943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.620943 # Seafloor depth:-97.620943 # behavior reson { duration = 6; SBP_Mode = 0; SBP_Power = 0.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 16 # Segment length 51.801962 meters # Minimum depth: 97.990850 meters looking forward 0.000000 meters along route # Maximum depth: 97.990850 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.990850 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822398; longitude = -122.010692; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 58.067678; finalDepth = 57.990850; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.99085 # Seafloor depth:-97.990850 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 98.067678 meters looking forward 0.000000 meters along route # Maximum depth: 98.067678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.067678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822224; longitude = -122.010337; captureRadius = 10; duration = 51; initialDepth = 58.915312; finalDepth = 58.067678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.067678 # Seafloor depth:-98.067678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 98.915312 meters looking forward 0.000000 meters along route # Maximum depth: 98.915312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.915312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821978; longitude = -122.009832; captureRadius = 10; duration = 51; initialDepth = 60.344057; finalDepth = 58.915312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.915312 # Seafloor depth:-98.915312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 100.344057 meters looking forward 0.000000 meters along route # Maximum depth: 100.344057 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.344057 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821731; longitude = -122.009328; captureRadius = 10; duration = 51; initialDepth = 63.736445; finalDepth = 60.344057; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.344057 # Seafloor depth:-100.344057 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 103.736445 meters looking forward 0.000000 meters along route # Maximum depth: 103.736445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.736445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821484; longitude = -122.008824; captureRadius = 10; duration = 51; initialDepth = 66.709446; finalDepth = 63.736445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.736445 # Seafloor depth:-103.736445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 106.709446 meters looking forward 0.000000 meters along route # Maximum depth: 106.709446 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.709446 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821238; longitude = -122.008319; captureRadius = 10; duration = 51; initialDepth = 76.590468; finalDepth = 66.709446; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.709446 # Seafloor depth:-106.709446 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 116.590468 meters looking forward 0.000000 meters along route # Maximum depth: 116.590468 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.590468 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820991; longitude = -122.007815; captureRadius = 10; duration = 51; initialDepth = 88.483347; finalDepth = 76.590468; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.590468 # Seafloor depth:-116.590468 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 128.483347 meters looking forward 0.000000 meters along route # Maximum depth: 128.483347 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 88.483347 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820744; longitude = -122.007310; captureRadius = 10; duration = 51; initialDepth = 104.281046; finalDepth = 88.483347; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:88.483347 # Seafloor depth:-128.483347 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 144.656244 meters looking forward 0.000000 meters along route # Maximum depth: 144.656244 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.281046 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820498; longitude = -122.006806; captureRadius = 10; duration = 51; initialDepth = 120.112834; finalDepth = 104.281046; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.3751979000004 # Actual altitude: 50 # Commanded vehicle depth:104.2810461 # Seafloor depth:-144.656244 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 168.692673 meters looking forward 0.000000 meters along route # Maximum depth: 168.692673 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 120.112834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820250; longitude = -122.006301; captureRadius = 10; duration = 51; initialDepth = 135.876560; finalDepth = 120.112834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.5798387999998 # Actual altitude: 50 # Commanded vehicle depth:120.1128342 # Seafloor depth:-168.692673 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 196.856131 meters looking forward 0.000000 meters along route # Maximum depth: 196.856131 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.876560 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820004; longitude = -122.005797; captureRadius = 10; duration = 51; initialDepth = 151.856946; finalDepth = 135.876560; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 60.9795709000002 # Actual altitude: 60.9795709000002 # Commanded vehicle depth:135.8765601 # Seafloor depth:-196.856131 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 243.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.39; MB_Bottom_Detect_Filter_Max_Range = 243.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 182.94; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 218.657177 meters looking forward 0.000000 meters along route # Maximum depth: 218.657177 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.856946 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819755; longitude = -122.005287; captureRadius = 10; duration = 51; initialDepth = 167.472228; finalDepth = 151.856946; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.8002309999995 # Actual altitude: 66.8002309999995 # Commanded vehicle depth:151.856946 # Seafloor depth:-218.657177 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 267.20; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.72; MB_Bottom_Detect_Filter_Max_Range = 267.20; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 200.40; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 234.518096 meters looking forward 0.000000 meters along route # Maximum depth: 234.518096 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 167.472228 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819511; longitude = -122.004788; captureRadius = 10; duration = 51; initialDepth = 183.601213; finalDepth = 167.472228; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.0458683000004 # Actual altitude: 67.0458683000004 # Commanded vehicle depth:167.4722277 # Seafloor depth:-234.518096 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 268.18; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.82; MB_Bottom_Detect_Filter_Max_Range = 268.18; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 201.14; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 280.404123 meters looking forward 0.000000 meters along route # Maximum depth: 280.404123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 183.601213 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819259; longitude = -122.004273; captureRadius = 10; duration = 51; initialDepth = 199.068049; finalDepth = 183.601213; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 96.8029104000004 # Actual altitude: 96.8029104000004 # Commanded vehicle depth:183.6012126 # Seafloor depth:-280.404123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 387.21; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.72; MB_Bottom_Detect_Filter_Max_Range = 387.21; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 290.41; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 307.779674 meters looking forward 0.000000 meters along route # Maximum depth: 307.779674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 199.068049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819017; longitude = -122.003780; captureRadius = 10; duration = 51; initialDepth = 215.345634; finalDepth = 199.068049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.7116254 # Actual altitude: 100 # Commanded vehicle depth:199.0680486 # Seafloor depth:-307.779674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 332.340912 meters looking forward 0.000000 meters along route # Maximum depth: 332.340912 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 215.345634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818763; longitude = -122.003260; captureRadius = 10; duration = 51; initialDepth = 230.664023; finalDepth = 215.345634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 116.995278 # Actual altitude: 100 # Commanded vehicle depth:215.345634 # Seafloor depth:-332.340912 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 352.326795 meters looking forward 0.000000 meters along route # Maximum depth: 352.326795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.664023 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818524; longitude = -122.002771; captureRadius = 10; duration = 51; initialDepth = 247.090211; finalDepth = 230.664023; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 121.6627716 # Actual altitude: 100 # Commanded vehicle depth:230.6640234 # Seafloor depth:-352.326795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 368.481463 meters looking forward 0.000000 meters along route # Maximum depth: 368.481463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 247.090211 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818268; longitude = -122.002246; captureRadius = 10; duration = 51; initialDepth = 262.260151; finalDepth = 247.090211; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 121.6627716 # Actual altitude: 100 # Commanded vehicle depth:247.0902108 # Seafloor depth:-368.481463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 382.550311 meters looking forward 0.000000 meters along route # Maximum depth: 382.550311 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 262.260151 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818031; longitude = -122.001762; captureRadius = 10; duration = 51; initialDepth = 278.834942; finalDepth = 262.260151; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 121.3912522 # Actual altitude: 100 # Commanded vehicle depth:262.2601515 # Seafloor depth:-382.550311 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 395.922748 meters looking forward 0.000000 meters along route # Maximum depth: 395.922748 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 278.834942 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817772; longitude = -122.001233; captureRadius = 10; duration = 51; initialDepth = 293.856434; finalDepth = 278.834942; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 120.2901595 # Actual altitude: 100 # Commanded vehicle depth:278.8349424 # Seafloor depth:-395.922748 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 408.881634 meters looking forward 0.000000 meters along route # Maximum depth: 408.881634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.856434 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817537; longitude = -122.000753; captureRadius = 10; duration = 51; initialDepth = 309.654632; finalDepth = 293.856434; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 117.0878056 # Actual altitude: 100 # Commanded vehicle depth:293.8564335 # Seafloor depth:-408.881634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 417.696821 meters looking forward 0.000000 meters along route # Maximum depth: 417.696821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 309.654632 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817291; longitude = -122.000249; captureRadius = 10; duration = 51; initialDepth = 325.452869; finalDepth = 309.654632; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 115.0252005 # Actual altitude: 100 # Commanded vehicle depth:309.6546321 # Seafloor depth:-417.696821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 429.138924 meters looking forward 0.000000 meters along route # Maximum depth: 429.138924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 325.452869 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817044; longitude = -121.999744; captureRadius = 10; duration = 51; initialDepth = 341.251144; finalDepth = 325.452869; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 108.0421889 # Actual altitude: 100 # Commanded vehicle depth:325.4528688 # Seafloor depth:-429.138924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 441.939253 meters looking forward 0.000000 meters along route # Maximum depth: 441.939253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 341.251144 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816797; longitude = -121.999240; captureRadius = 10; duration = 51; initialDepth = 357.049458; finalDepth = 341.251144; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 103.6860552 # Actual altitude: 100 # Commanded vehicle depth:341.251144200001 # Seafloor depth:-441.939253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 451.694073 meters looking forward 0.000000 meters along route # Maximum depth: 451.694073 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.049458 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816551; longitude = -121.998736; captureRadius = 10; duration = 51; initialDepth = 372.847810; finalDepth = 357.049458; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 100.688108799999 # Actual altitude: 100 # Commanded vehicle depth:357.049458 # Seafloor depth:-451.694073 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 462.330209 meters looking forward 0.000000 meters along route # Maximum depth: 462.330209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.847810 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816304; longitude = -121.998231; captureRadius = 10; duration = 51; initialDepth = 388.646201; finalDepth = 372.847810; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.6446150000002 # Actual altitude: 94.6446150000002 # Commanded vehicle depth:372.8478099 # Seafloor depth:-462.330209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 378.58; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.86; MB_Bottom_Detect_Filter_Max_Range = 378.58; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 283.93; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 473.611024 meters looking forward 0.000000 meters along route # Maximum depth: 473.611024 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.646201 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816057; longitude = -121.997727; captureRadius = 10; duration = 51; initialDepth = 404.444630; finalDepth = 388.646201; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.4823991000001 # Actual altitude: 89.4823991000001 # Commanded vehicle depth:388.6462005 # Seafloor depth:-473.611024 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 357.93; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 35.79; MB_Bottom_Detect_Filter_Max_Range = 357.93; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 268.45; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 480.327803 meters looking forward 0.000000 meters along route # Maximum depth: 480.327803 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 404.444630 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815811; longitude = -121.997222; captureRadius = 10; duration = 51; initialDepth = 420.245177; finalDepth = 404.444630; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.9648235 # Actual altitude: 84.9648235 # Commanded vehicle depth:404.4446295 # Seafloor depth:-480.327803 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.86; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.99; MB_Bottom_Detect_Filter_Max_Range = 339.86; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.89; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 491.531967 meters looking forward 0.000000 meters along route # Maximum depth: 491.531967 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 420.245177 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815564; longitude = -121.996718; captureRadius = 10; duration = 51; initialDepth = 436.041602; finalDepth = 420.245177; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.8831734999999 # Actual altitude: 75.8831734999999 # Commanded vehicle depth:420.2451765 # Seafloor depth:-491.531967 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 303.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.35; MB_Bottom_Detect_Filter_Max_Range = 303.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 227.65; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 507.456129 meters looking forward 0.000000 meters along route # Maximum depth: 507.456129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.041602 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815317; longitude = -121.996214; captureRadius = 10; duration = 51; initialDepth = 451.990754; finalDepth = 436.041602; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4145266000002 # Actual altitude: 71.4145266000002 # Commanded vehicle depth:436.0416024 # Seafloor depth:-507.456129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.57; MB_Bottom_Detect_Filter_Max_Range = 285.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 518.469578 meters looking forward 0.000000 meters along route # Maximum depth: 518.469578 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 451.990754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815068; longitude = -121.995704; captureRadius = 10; duration = 51; initialDepth = 467.638729; finalDepth = 451.990754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 71.4145266000002 # Actual altitude: 71.4145266000002 # Commanded vehicle depth:451.9907538 # Seafloor depth:-518.469578 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 285.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.57; MB_Bottom_Detect_Filter_Max_Range = 285.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 214.24; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 517.664920 meters looking forward 0.000000 meters along route # Maximum depth: 517.664920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.638729 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814824; longitude = -121.995205; captureRadius = 10; duration = 51; initialDepth = 467.538099; finalDepth = 467.638729; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 66.4788242000001 # Actual altitude: 66.4788242000001 # Commanded vehicle depth:467.6387292 # Seafloor depth:-517.664920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 265.92; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.59; MB_Bottom_Detect_Filter_Max_Range = 265.92; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 199.44; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 507.538099 meters looking forward 0.000000 meters along route # Maximum depth: 507.538099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 467.538099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814573; longitude = -121.994691; captureRadius = 10; duration = 51; initialDepth = 473.329355; finalDepth = 467.538099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 50.0261907999998 # Actual altitude: 50.0261907999998 # Commanded vehicle depth:467.538099 # Seafloor depth:-507.538099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.10; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.01; MB_Bottom_Detect_Filter_Max_Range = 200.10; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 513.329355 meters looking forward 0.000000 meters along route # Maximum depth: 513.329355 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 473.329355 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814331; longitude = -121.994196; captureRadius = 10; duration = 51; initialDepth = 489.575720; finalDepth = 473.329355; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:473.329355 # Seafloor depth:-513.329355 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 535.742745 meters looking forward 0.000000 meters along route # Maximum depth: 535.742745 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 489.575720 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814077; longitude = -121.993677; captureRadius = 10; duration = 51; initialDepth = 504.926789; finalDepth = 489.575720; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1670253000004 # Actual altitude: 50 # Commanded vehicle depth:489.5757197 # Seafloor depth:-535.742745 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 556.017218 meters looking forward 0.000000 meters along route # Maximum depth: 556.017218 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 504.926789 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813837; longitude = -121.993187; captureRadius = 10; duration = 51; initialDepth = 521.321762; finalDepth = 504.926789; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0904290000003 # Actual altitude: 51.0904290000003 # Commanded vehicle depth:504.926789 # Seafloor depth:-556.017218 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 565.589953 meters looking forward 0.000000 meters along route # Maximum depth: 565.589953 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 521.321762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813581; longitude = -121.992664; captureRadius = 10; duration = 51; initialDepth = 527.684040; finalDepth = 521.321762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 51.0904290000003 # Actual altitude: 51.0904290000003 # Commanded vehicle depth:521.3217623 # Seafloor depth:-565.589953 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 204.36; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.44; MB_Bottom_Detect_Filter_Max_Range = 204.36; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 153.27; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 567.684040 meters looking forward 0.000000 meters along route # Maximum depth: 567.684040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 527.684040 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813344; longitude = -121.992178; captureRadius = 10; duration = 51; initialDepth = 526.657903; finalDepth = 527.684040; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.2681907000002 # Actual altitude: 50 # Commanded vehicle depth:527.68404 # Seafloor depth:-567.684040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 566.657903 meters looking forward 0.000000 meters along route # Maximum depth: 566.657903 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 526.657903 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813086; longitude = -121.991650; captureRadius = 10; duration = 51; initialDepth = 519.150766; finalDepth = 526.657903; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:526.657903 # Seafloor depth:-566.657903 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 559.150766 meters looking forward 0.000000 meters along route # Maximum depth: 559.150766 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 519.150766 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812850; longitude = -121.991170; captureRadius = 10; duration = 51; initialDepth = 497.836068; finalDepth = 519.150766; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:519.150766 # Seafloor depth:-559.150766 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 537.836068 meters looking forward 0.000000 meters along route # Maximum depth: 537.836068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 497.836068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812604; longitude = -121.990665; captureRadius = 10; duration = 51; initialDepth = 464.638725; finalDepth = 497.836068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:497.836068 # Seafloor depth:-537.836068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 504.638725 meters looking forward 0.000000 meters along route # Maximum depth: 504.638725 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 464.638725 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812357; longitude = -121.990161; captureRadius = 10; duration = 51; initialDepth = 439.249859; finalDepth = 464.638725; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:464.638725 # Seafloor depth:-504.638725 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 479.249859 meters looking forward 0.000000 meters along route # Maximum depth: 479.249859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 439.249859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812110; longitude = -121.989656; captureRadius = 10; duration = 51; initialDepth = 421.053842; finalDepth = 439.249859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:439.249859 # Seafloor depth:-479.249859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 461.053842 meters looking forward 0.000000 meters along route # Maximum depth: 461.053842 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 421.053842 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811864; longitude = -121.989152; captureRadius = 10; duration = 51; initialDepth = 407.149089; finalDepth = 421.053842; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:421.053842 # Seafloor depth:-461.053842 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 447.149089 meters looking forward 0.000000 meters along route # Maximum depth: 447.149089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 407.149089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811617; longitude = -121.988648; captureRadius = 10; duration = 51; initialDepth = 406.234693; finalDepth = 407.149089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:407.149089 # Seafloor depth:-447.149089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 446.234693 meters looking forward 0.000000 meters along route # Maximum depth: 446.234693 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 406.234693 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811370; longitude = -121.988143; captureRadius = 10; duration = 51; initialDepth = 398.385999; finalDepth = 406.234693; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:406.234693 # Seafloor depth:-446.234693 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 438.385999 meters looking forward 0.000000 meters along route # Maximum depth: 438.385999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 398.385999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811124; longitude = -121.987639; captureRadius = 10; duration = 51; initialDepth = 379.204089; finalDepth = 398.385999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:398.385999 # Seafloor depth:-438.385999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 419.204089 meters looking forward 0.000000 meters along route # Maximum depth: 419.204089 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 379.204089 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810877; longitude = -121.987134; captureRadius = 10; duration = 51; initialDepth = 357.386447; finalDepth = 379.204089; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:379.204089 # Seafloor depth:-419.204089 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 397.386447 meters looking forward 0.000000 meters along route # Maximum depth: 397.386447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.386447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810630; longitude = -121.986630; captureRadius = 10; duration = 51; initialDepth = 336.637161; finalDepth = 357.386447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:357.386447 # Seafloor depth:-397.386447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 376.637161 meters looking forward 0.000000 meters along route # Maximum depth: 376.637161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.637161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810382; longitude = -121.986122; captureRadius = 10; duration = 51; initialDepth = 317.427636; finalDepth = 336.637161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:336.637161 # Seafloor depth:-376.637161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 357.427636 meters looking forward 0.000000 meters along route # Maximum depth: 357.427636 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 317.427636 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810137; longitude = -121.985621; captureRadius = 10; duration = 51; initialDepth = 299.836294; finalDepth = 317.427636; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:317.427636 # Seafloor depth:-357.427636 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 339.836294 meters looking forward 0.000000 meters along route # Maximum depth: 339.836294 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 299.836294 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809886; longitude = -121.985108; captureRadius = 10; duration = 51; initialDepth = 281.926104; finalDepth = 299.836294; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:299.836294 # Seafloor depth:-339.836294 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 321.926104 meters looking forward 0.000000 meters along route # Maximum depth: 321.926104 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 281.926104 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809644; longitude = -121.984612; captureRadius = 10; duration = 51; initialDepth = 264.396419; finalDepth = 281.926104; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:281.926104 # Seafloor depth:-321.926104 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 304.396419 meters looking forward 0.000000 meters along route # Maximum depth: 304.396419 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.396419 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809390; longitude = -121.984095; captureRadius = 10; duration = 51; initialDepth = 245.839406; finalDepth = 264.396419; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:264.396419 # Seafloor depth:-304.396419 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 285.839406 meters looking forward 0.000000 meters along route # Maximum depth: 285.839406 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 245.839406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809150; longitude = -121.983604; captureRadius = 10; duration = 51; initialDepth = 223.572185; finalDepth = 245.839406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:245.839406 # Seafloor depth:-285.839406 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 263.572185 meters looking forward 0.000000 meters along route # Maximum depth: 263.572185 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 223.572185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808895; longitude = -121.983081; captureRadius = 10; duration = 51; initialDepth = 209.164522; finalDepth = 223.572185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:223.572185 # Seafloor depth:-263.572185 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 249.164522 meters looking forward 0.000000 meters along route # Maximum depth: 249.164522 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 209.164522 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808657; longitude = -121.982595; captureRadius = 10; duration = 51; initialDepth = 197.099209; finalDepth = 209.164522; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:209.164522 # Seafloor depth:-249.164522 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 237.099209 meters looking forward 0.000000 meters along route # Maximum depth: 237.099209 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.099209 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808399; longitude = -121.982068; captureRadius = 10; duration = 51; initialDepth = 185.441098; finalDepth = 197.099209; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:197.099209 # Seafloor depth:-237.099209 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 225.441098 meters looking forward 0.000000 meters along route # Maximum depth: 225.441098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 185.441098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808164; longitude = -121.981586; captureRadius = 10; duration = 51; initialDepth = 173.181994; finalDepth = 185.441098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:185.441098 # Seafloor depth:-225.441098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 213.181994 meters looking forward 0.000000 meters along route # Maximum depth: 213.181994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 173.181994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807917; longitude = -121.981082; captureRadius = 10; duration = 51; initialDepth = 159.835588; finalDepth = 173.181994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:173.181994 # Seafloor depth:-213.181994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 199.835588 meters looking forward 0.000000 meters along route # Maximum depth: 199.835588 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.835588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807670; longitude = -121.980577; captureRadius = 10; duration = 51; initialDepth = 143.589577; finalDepth = 159.835588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:159.835588 # Seafloor depth:-199.835588 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 183.589577 meters looking forward 0.000000 meters along route # Maximum depth: 183.589577 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 143.589577 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807424; longitude = -121.980073; captureRadius = 10; duration = 51; initialDepth = 128.265295; finalDepth = 143.589577; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:143.589577 # Seafloor depth:-183.589577 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 168.265295 meters looking forward 0.000000 meters along route # Maximum depth: 168.265295 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 128.265295 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807177; longitude = -121.979568; captureRadius = 10; duration = 51; initialDepth = 113.261469; finalDepth = 128.265295; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:128.265295 # Seafloor depth:-168.265295 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 153.261469 meters looking forward 0.000000 meters along route # Maximum depth: 153.261469 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.261469 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806930; longitude = -121.979064; captureRadius = 10; duration = 51; initialDepth = 100.222474; finalDepth = 113.261469; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:113.261469 # Seafloor depth:-153.261469 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 16 # Segment length 51.801962 meters # Minimum depth: 140.222474 meters looking forward 0.000000 meters along route # Maximum depth: 140.222474 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.222474 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806683; longitude = -121.978560; captureRadius = 10; duration = 51; initialDepth = 82.333094; finalDepth = 100.222474; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.222474 # Seafloor depth:-140.222474 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 15 # Segment length 51.801962 meters # Minimum depth: 122.333094 meters looking forward 0.000000 meters along route # Maximum depth: 122.333094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.333094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806446; longitude = -121.978074; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 80.701707; finalDepth = 82.333094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.333094 # Seafloor depth:-122.333094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.801962 meters # Minimum depth: 120.701707 meters looking forward 0.000000 meters along route # Maximum depth: 120.701707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.701707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.806654; longitude = -121.977887; captureRadius = 10; duration = 51; initialDepth = 76.994012; finalDepth = 80.701707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:80.701707 # Seafloor depth:-120.701707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.801962 meters # Minimum depth: 116.994012 meters looking forward 0.000000 meters along route # Maximum depth: 116.994012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.994012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807029; longitude = -121.977551; captureRadius = 10; duration = 51; initialDepth = 75.027161; finalDepth = 76.994012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.994012 # Seafloor depth:-116.994012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.801962 meters # Minimum depth: 115.027161 meters looking forward 0.000000 meters along route # Maximum depth: 115.027161 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.027161 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807408; longitude = -121.977211; captureRadius = 10; duration = 51; initialDepth = 70.878164; finalDepth = 75.027161; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.027161 # Seafloor depth:-115.027161 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.801962 meters # Minimum depth: 110.878164 meters looking forward 0.000000 meters along route # Maximum depth: 110.878164 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.878164 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.807779; longitude = -121.976878; captureRadius = 10; duration = 51; initialDepth = 63.796958; finalDepth = 70.878164; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.878164 # Seafloor depth:-110.878164 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 15 # Segment length 51.801962 meters # Minimum depth: 103.796958 meters looking forward 0.000000 meters along route # Maximum depth: 103.796958 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.796958 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808174; longitude = -121.976524; captureRadius = 10; duration = 51; initialDepth = 59.570234; finalDepth = 63.796958; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.796958 # Seafloor depth:-103.796958 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 14 # Segment length 51.801962 meters # Minimum depth: 99.570234 meters looking forward 0.000000 meters along route # Maximum depth: 99.570234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.570234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808549; longitude = -121.976187; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 60.291471; finalDepth = 59.570234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.570234 # Seafloor depth:-99.570234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 100.291471 meters looking forward 0.000000 meters along route # Maximum depth: 100.291471 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.291471 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.808805; longitude = -121.976202; captureRadius = 10; duration = 51; initialDepth = 64.679797; finalDepth = 60.291471; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.291471 # Seafloor depth:-100.291471 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 104.679797 meters looking forward 0.000000 meters along route # Maximum depth: 104.679797 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.679797 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809255; longitude = -121.976229; captureRadius = 10; duration = 51; initialDepth = 63.403932; finalDepth = 64.679797; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.679797 # Seafloor depth:-104.679797 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 103.403932 meters looking forward 0.000000 meters along route # Maximum depth: 103.403932 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.403932 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.809706; longitude = -121.976257; captureRadius = 10; duration = 51; initialDepth = 66.520017; finalDepth = 63.403932; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.403932 # Seafloor depth:-103.403932 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 106.520017 meters looking forward 0.000000 meters along route # Maximum depth: 106.520017 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.520017 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810157; longitude = -121.976284; captureRadius = 10; duration = 51; initialDepth = 71.727323; finalDepth = 66.520017; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.520017 # Seafloor depth:-106.520017 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 111.727323 meters looking forward 0.000000 meters along route # Maximum depth: 111.727323 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.727323 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.810607; longitude = -121.976311; captureRadius = 10; duration = 51; initialDepth = 67.593492; finalDepth = 71.727323; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.727323 # Seafloor depth:-111.727323 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 107.593492 meters looking forward 0.000000 meters along route # Maximum depth: 107.593492 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.593492 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811058; longitude = -121.976338; captureRadius = 10; duration = 51; initialDepth = 68.699098; finalDepth = 67.593492; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.593492 # Seafloor depth:-107.593492 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 108.699098 meters looking forward 0.000000 meters along route # Maximum depth: 108.699098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.699098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811508; longitude = -121.976365; captureRadius = 10; duration = 51; initialDepth = 70.683437; finalDepth = 68.699098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.699098 # Seafloor depth:-108.699098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 110.683437 meters looking forward 0.000000 meters along route # Maximum depth: 110.683437 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.683437 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.811959; longitude = -121.976392; captureRadius = 10; duration = 51; initialDepth = 78.866275; finalDepth = 70.683437; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.683437 # Seafloor depth:-110.683437 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 118.866275 meters looking forward 0.000000 meters along route # Maximum depth: 118.866275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.866275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812410; longitude = -121.976419; captureRadius = 10; duration = 51; initialDepth = 80.236638; finalDepth = 78.866275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.866275 # Seafloor depth:-118.866275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 120.236638 meters looking forward 0.000000 meters along route # Maximum depth: 120.236638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 80.236638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.812860; longitude = -121.976446; captureRadius = 10; duration = 51; initialDepth = 76.232624; finalDepth = 80.236638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:80.236638 # Seafloor depth:-120.236638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 116.232624 meters looking forward 0.000000 meters along route # Maximum depth: 116.232624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 76.232624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813311; longitude = -121.976473; captureRadius = 10; duration = 51; initialDepth = 68.758955; finalDepth = 76.232624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:76.232624 # Seafloor depth:-116.232624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 108.758955 meters looking forward 0.000000 meters along route # Maximum depth: 108.758955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 68.758955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.813761; longitude = -121.976500; captureRadius = 10; duration = 51; initialDepth = 64.530746; finalDepth = 68.758955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:68.758955 # Seafloor depth:-108.758955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 104.530746 meters looking forward 0.000000 meters along route # Maximum depth: 104.530746 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.530746 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814212; longitude = -121.976528; captureRadius = 10; duration = 51; initialDepth = 62.593834; finalDepth = 64.530746; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.530746 # Seafloor depth:-104.530746 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 102.593834 meters looking forward 0.000000 meters along route # Maximum depth: 102.593834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.593834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.814663; longitude = -121.976555; captureRadius = 10; duration = 51; initialDepth = 66.643613; finalDepth = 62.593834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.593834 # Seafloor depth:-102.593834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 106.643613 meters looking forward 0.000000 meters along route # Maximum depth: 106.643613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.643613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815113; longitude = -121.976582; captureRadius = 10; duration = 51; initialDepth = 66.880520; finalDepth = 66.643613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.643613 # Seafloor depth:-106.643613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 106.880520 meters looking forward 0.000000 meters along route # Maximum depth: 106.880520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.880520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.815564; longitude = -121.976609; captureRadius = 10; duration = 51; initialDepth = 64.687999; finalDepth = 66.880520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.88052 # Seafloor depth:-106.880520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 104.687999 meters looking forward 0.000000 meters along route # Maximum depth: 104.687999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.687999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816015; longitude = -121.976636; captureRadius = 10; duration = 51; initialDepth = 64.101940; finalDepth = 64.687999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.687999 # Seafloor depth:-104.687999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 14 # Segment length 51.801962 meters # Minimum depth: 104.101940 meters looking forward 0.000000 meters along route # Maximum depth: 104.101940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.101940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816465; longitude = -121.976663; captureRadius = 10; duration = 51; initialDepth = 63.941727; finalDepth = 64.101940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.10194 # Seafloor depth:-104.101940 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 13 # Segment length 51.801962 meters # Minimum depth: 103.941727 meters looking forward 0.000000 meters along route # Maximum depth: 103.941727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.941727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.816931; longitude = -121.976691; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 69.660701; finalDepth = 63.941727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.941727 # Seafloor depth:-103.941727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 109.660701 meters looking forward 0.000000 meters along route # Maximum depth: 109.660701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.660701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817141; longitude = -121.977065; captureRadius = 10; duration = 51; initialDepth = 85.514115; finalDepth = 69.660701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.660701 # Seafloor depth:-109.660701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 131.647130 meters looking forward 0.000000 meters along route # Maximum depth: 131.647130 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.514115 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817414; longitude = -121.977551; captureRadius = 10; duration = 51; initialDepth = 101.089568; finalDepth = 85.514115; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.1330153999994 # Actual altitude: 50 # Commanded vehicle depth:85.5141146000006 # Seafloor depth:-131.647130 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 148.242351 meters looking forward 0.000000 meters along route # Maximum depth: 148.242351 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.089568 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817682; longitude = -121.978028; captureRadius = 10; duration = 51; initialDepth = 116.803944; finalDepth = 101.089568; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.1527829999995 # Actual altitude: 50 # Commanded vehicle depth:101.089568000001 # Seafloor depth:-148.242351 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 166.357031 meters looking forward 0.000000 meters along route # Maximum depth: 166.357031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.803944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.817952; longitude = -121.978509; captureRadius = 10; duration = 51; initialDepth = 133.076562; finalDepth = 116.803944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 49.5530870999996 # Actual altitude: 50 # Commanded vehicle depth:116.8039439 # Seafloor depth:-166.357031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 195.896172 meters looking forward 0.000000 meters along route # Maximum depth: 195.896172 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 133.076562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818232; longitude = -121.979008; captureRadius = 10; duration = 51; initialDepth = 148.232580; finalDepth = 133.076562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.8196100999995 # Actual altitude: 62.8196100999995 # Commanded vehicle depth:133.076561900001 # Seafloor depth:-195.896172 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 251.28; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.13; MB_Bottom_Detect_Filter_Max_Range = 251.28; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 188.46; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 215.616106 meters looking forward 0.000000 meters along route # Maximum depth: 215.616106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.232580 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818493; longitude = -121.979472; captureRadius = 10; duration = 51; initialDepth = 164.174895; finalDepth = 148.232580; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.3835257999997 # Actual altitude: 67.3835257999997 # Commanded vehicle depth:148.2325802 # Seafloor depth:-215.616106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 269.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 26.95; MB_Bottom_Detect_Filter_Max_Range = 269.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 202.15; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 234.424433 meters looking forward 0.000000 meters along route # Maximum depth: 234.424433 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 164.174895 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.818767; longitude = -121.979961; captureRadius = 10; duration = 51; initialDepth = 179.661063; finalDepth = 164.174895; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 70.2495381000003 # Actual altitude: 70.2495381000003 # Commanded vehicle depth:164.1748949 # Seafloor depth:-234.424433 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 281.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 28.10; MB_Bottom_Detect_Filter_Max_Range = 281.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 210.75; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 254.863448 meters looking forward 0.000000 meters along route # Maximum depth: 254.863448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.661063 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819034; longitude = -121.980435; captureRadius = 10; duration = 51; initialDepth = 195.375246; finalDepth = 179.661063; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 75.2023850999994 # Actual altitude: 75.2023850999994 # Commanded vehicle depth:179.661062900001 # Seafloor depth:-254.863448 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 300.81; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.08; MB_Bottom_Detect_Filter_Max_Range = 300.81; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 225.61; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 285.365027 meters looking forward 0.000000 meters along route # Maximum depth: 285.365027 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 195.375246 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819304; longitude = -121.980917; captureRadius = 10; duration = 51; initialDepth = 211.736760; finalDepth = 195.375246; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 89.9897805000002 # Actual altitude: 89.9897805000002 # Commanded vehicle depth:195.3752465 # Seafloor depth:-285.365027 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 359.96; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 36.00; MB_Bottom_Detect_Filter_Max_Range = 359.96; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 269.97; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 305.314123 meters looking forward 0.000000 meters along route # Maximum depth: 305.314123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.736760 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819586; longitude = -121.981418; captureRadius = 10; duration = 51; initialDepth = 226.803499; finalDepth = 211.736760; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.5773627999998 # Actual altitude: 93.5773627999998 # Commanded vehicle depth:211.7367602 # Seafloor depth:-305.314123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 374.31; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.43; MB_Bottom_Detect_Filter_Max_Range = 374.31; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 280.73; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 320.838261 meters looking forward 0.000000 meters along route # Maximum depth: 320.838261 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.803499 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.819845; longitude = -121.981879; captureRadius = 10; duration = 51; initialDepth = 242.834713; finalDepth = 226.803499; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.0347624999994 # Actual altitude: 94.0347624999994 # Commanded vehicle depth:226.803498500001 # Seafloor depth:-320.838261 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 376.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.61; MB_Bottom_Detect_Filter_Max_Range = 376.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 337.116081 meters looking forward 0.000000 meters along route # Maximum depth: 337.116081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 242.834713 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820121; longitude = -121.982371; captureRadius = 10; duration = 51; initialDepth = 258.231597; finalDepth = 242.834713; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 94.2813684999996 # Actual altitude: 94.2813684999996 # Commanded vehicle depth:242.8347125 # Seafloor depth:-337.116081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 377.13; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.71; MB_Bottom_Detect_Filter_Max_Range = 377.13; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 282.84; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 353.265831 meters looking forward 0.000000 meters along route # Maximum depth: 353.265831 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 258.231597 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820386; longitude = -121.982842; captureRadius = 10; duration = 51; initialDepth = 273.945588; finalDepth = 258.231597; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 95.0342343999994 # Actual altitude: 95.0342343999994 # Commanded vehicle depth:258.231596600001 # Seafloor depth:-353.265831 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 380.14; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 38.01; MB_Bottom_Detect_Filter_Max_Range = 380.14; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 285.10; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 378.043968 meters looking forward 0.000000 meters along route # Maximum depth: 378.043968 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 273.945588 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820656; longitude = -121.983324; captureRadius = 10; duration = 51; initialDepth = 290.395995; finalDepth = 273.945588; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 104.0983798 # Actual altitude: 100 # Commanded vehicle depth:273.9455882 # Seafloor depth:-378.043968 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 13 # Segment length 51.801962 meters # Minimum depth: 400.384258 meters looking forward 0.000000 meters along route # Maximum depth: 400.384258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 290.395995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.820939; longitude = -121.983828; captureRadius = 10; duration = 51; initialDepth = 306.265724; finalDepth = 290.395995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 109.9882628 # Actual altitude: 100 # Commanded vehicle depth:290.3959952 # Seafloor depth:-400.384258 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 12 # Segment length 51.801962 meters # Minimum depth: 423.436890 meters looking forward 0.000000 meters along route # Maximum depth: 423.436890 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.265724 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821212; longitude = -121.984314; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 311.372479; finalDepth = 306.265724; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 117.1711663 # Actual altitude: 100 # Commanded vehicle depth:306.2657237 # Seafloor depth:-423.436890 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.801962 meters # Minimum depth: 434.147796 meters looking forward 0.000000 meters along route # Maximum depth: 434.147796 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 311.372479 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821245; longitude = -121.984500; captureRadius = 10; duration = 51; initialDepth = 326.733153; finalDepth = 311.372479; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 122.775317199999 # Actual altitude: 100 # Commanded vehicle depth:311.372478800001 # Seafloor depth:-434.147796 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.801962 meters # Minimum depth: 459.169075 meters looking forward 0.000000 meters along route # Maximum depth: 459.169075 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 326.733153 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821345; longitude = -121.985061; captureRadius = 10; duration = 51; initialDepth = 342.093805; finalDepth = 326.733153; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 132.4359224 # Actual altitude: 100 # Commanded vehicle depth:326.7331526 # Seafloor depth:-459.169075 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.801962 meters # Minimum depth: 472.352787 meters looking forward 0.000000 meters along route # Maximum depth: 472.352787 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 342.093805 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821445; longitude = -121.985621; captureRadius = 10; duration = 51; initialDepth = 357.454438; finalDepth = 342.093805; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 132.4359224 # Actual altitude: 100 # Commanded vehicle depth:342.0938054 # Seafloor depth:-472.352787 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.801962 meters # Minimum depth: 476.104062 meters looking forward 0.000000 meters along route # Maximum depth: 476.104062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 357.454438 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821545; longitude = -121.986182; captureRadius = 10; duration = 51; initialDepth = 372.815049; finalDepth = 357.454438; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 130.2589816 # Actual altitude: 100 # Commanded vehicle depth:357.4544375 # Seafloor depth:-476.104062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.801962 meters # Minimum depth: 478.707999 meters looking forward 0.000000 meters along route # Maximum depth: 478.707999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.815049 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821645; longitude = -121.986742; captureRadius = 10; duration = 51; initialDepth = 388.175640; finalDepth = 372.815049; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 118.6496245 # Actual altitude: 100 # Commanded vehicle depth:372.8150489 # Seafloor depth:-478.707999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.801962 meters # Minimum depth: 481.417040 meters looking forward 0.000000 meters along route # Maximum depth: 481.417040 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 388.175640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821745; longitude = -121.987303; captureRadius = 10; duration = 51; initialDepth = 403.536210; finalDepth = 388.175640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 105.8929501 # Actual altitude: 100 # Commanded vehicle depth:388.1756396 # Seafloor depth:-481.417040 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 400.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 40.00; MB_Bottom_Detect_Filter_Max_Range = 400.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 300.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 12 # Segment length 51.801962 meters # Minimum depth: 484.676320 meters looking forward 0.000000 meters along route # Maximum depth: 484.676320 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 403.536210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821845; longitude = -121.987863; captureRadius = 10; duration = 51; initialDepth = 419.405342; finalDepth = 403.536210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 93.2414003999999 # Actual altitude: 93.2414003999999 # Commanded vehicle depth:403.5362096 # Seafloor depth:-484.676320 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 372.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 37.30; MB_Bottom_Detect_Filter_Max_Range = 372.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 279.72; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 11 # Segment length 51.801962 meters # Minimum depth: 487.097610 meters looking forward 0.000000 meters along route # Maximum depth: 487.097610 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 419.405342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.821948; longitude = -121.988442; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 432.978399; finalDepth = 419.405342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 81.1401103999999 # Actual altitude: 81.1401103999999 # Commanded vehicle depth:419.405342 # Seafloor depth:-487.097610 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 324.56; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 32.46; MB_Bottom_Detect_Filter_Max_Range = 324.56; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 243.42; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 487.015571 meters looking forward 0.000000 meters along route # Maximum depth: 487.015571 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 432.978399 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822165; longitude = -121.988872; captureRadius = 10; duration = 51; initialDepth = 447.139447; finalDepth = 432.978399; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 67.6922679999996 # Actual altitude: 67.6922679999996 # Commanded vehicle depth:432.9783989 # Seafloor depth:-487.015571 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 270.77; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.08; MB_Bottom_Detect_Filter_Max_Range = 270.77; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 203.08; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 487.139447 meters looking forward 0.000000 meters along route # Maximum depth: 487.139447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 447.139447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822419; longitude = -121.989376; captureRadius = 10; duration = 51; initialDepth = 445.670264; finalDepth = 447.139447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0371720999999 # Actual altitude: 54.0371720999999 # Commanded vehicle depth:447.139447 # Seafloor depth:-487.139447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.15; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.15; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.11; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 485.670264 meters looking forward 0.000000 meters along route # Maximum depth: 485.670264 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 445.670264 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822684; longitude = -121.989902; captureRadius = 10; duration = 51; initialDepth = 441.766707; finalDepth = 445.670264; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:445.670264 # Seafloor depth:-485.670264 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 481.766707 meters looking forward 0.000000 meters along route # Maximum depth: 481.766707 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 441.766707 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.822927; longitude = -121.990385; captureRadius = 10; duration = 51; initialDepth = 436.152904; finalDepth = 441.766707; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:441.766707 # Seafloor depth:-481.766707 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 476.152904 meters looking forward 0.000000 meters along route # Maximum depth: 476.152904 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 436.152904 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823181; longitude = -121.990889; captureRadius = 10; duration = 51; initialDepth = 417.273573; finalDepth = 436.152904; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:436.152904 # Seafloor depth:-476.152904 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 457.273573 meters looking forward 0.000000 meters along route # Maximum depth: 457.273573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 417.273573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823436; longitude = -121.991394; captureRadius = 10; duration = 51; initialDepth = 401.595649; finalDepth = 417.273573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:417.273573 # Seafloor depth:-457.273573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 441.595649 meters looking forward 0.000000 meters along route # Maximum depth: 441.595649 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 401.595649 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823675; longitude = -121.991869; captureRadius = 10; duration = 51; initialDepth = 392.207913; finalDepth = 401.595649; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:401.595649 # Seafloor depth:-441.595649 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 432.207913 meters looking forward 0.000000 meters along route # Maximum depth: 432.207913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 392.207913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.823916; longitude = -121.992347; captureRadius = 10; duration = 51; initialDepth = 372.495066; finalDepth = 392.207913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:392.207913 # Seafloor depth:-432.207913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 412.495066 meters looking forward 0.000000 meters along route # Maximum depth: 412.495066 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 372.495066 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824171; longitude = -121.992853; captureRadius = 10; duration = 51; initialDepth = 336.418969; finalDepth = 372.495066; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:372.495066 # Seafloor depth:-412.495066 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 376.418969 meters looking forward 0.000000 meters along route # Maximum depth: 376.418969 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 336.418969 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824424; longitude = -121.993355; captureRadius = 10; duration = 51; initialDepth = 306.794148; finalDepth = 336.418969; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:336.418969 # Seafloor depth:-376.418969 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 346.794148 meters looking forward 0.000000 meters along route # Maximum depth: 346.794148 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 306.794148 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824678; longitude = -121.993860; captureRadius = 10; duration = 51; initialDepth = 271.711054; finalDepth = 306.794148; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:306.794148 # Seafloor depth:-346.794148 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 311.711054 meters looking forward 0.000000 meters along route # Maximum depth: 311.711054 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 271.711054 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824937; longitude = -121.994373; captureRadius = 10; duration = 51; initialDepth = 239.867843; finalDepth = 271.711054; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:271.711054 # Seafloor depth:-311.711054 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 279.867843 meters looking forward 0.000000 meters along route # Maximum depth: 279.867843 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 239.867843 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825187; longitude = -121.994869; captureRadius = 10; duration = 51; initialDepth = 211.278395; finalDepth = 239.867843; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:239.867843 # Seafloor depth:-279.867843 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 251.278395 meters looking forward 0.000000 meters along route # Maximum depth: 251.278395 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.278395 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825441; longitude = -121.995373; captureRadius = 10; duration = 51; initialDepth = 174.734081; finalDepth = 211.278395; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.278395 # Seafloor depth:-251.278395 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 214.734081 meters looking forward 0.000000 meters along route # Maximum depth: 214.734081 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 174.734081 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825703; longitude = -121.995893; captureRadius = 10; duration = 51; initialDepth = 170.204727; finalDepth = 174.734081; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:174.734081 # Seafloor depth:-214.734081 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 210.204727 meters looking forward 0.000000 meters along route # Maximum depth: 210.204727 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.204727 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825949; longitude = -121.996382; captureRadius = 10; duration = 51; initialDepth = 175.654852; finalDepth = 170.204727; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.204727 # Seafloor depth:-210.204727 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 215.654852 meters looking forward 0.000000 meters along route # Maximum depth: 215.654852 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.654852 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826203; longitude = -121.996886; captureRadius = 10; duration = 51; initialDepth = 134.235041; finalDepth = 175.654852; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.654852 # Seafloor depth:-215.654852 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 174.235041 meters looking forward 0.000000 meters along route # Maximum depth: 174.235041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 134.235041 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826469; longitude = -121.997413; captureRadius = 10; duration = 51; initialDepth = 149.460183; finalDepth = 134.235041; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:134.235041 # Seafloor depth:-174.235041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 192.059730 meters looking forward 0.000000 meters along route # Maximum depth: 192.059730 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.460183 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826712; longitude = -121.997895; captureRadius = 10; duration = 51; initialDepth = 131.010480; finalDepth = 149.460183; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5995471 # Actual altitude: 50 # Commanded vehicle depth:149.4601829 # Seafloor depth:-192.059730 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 171.010480 meters looking forward 0.000000 meters along route # Maximum depth: 171.010480 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.010480 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826966; longitude = -121.998399; captureRadius = 10; duration = 51; initialDepth = 103.112031; finalDepth = 131.010480; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.5995471 # Actual altitude: 50 # Commanded vehicle depth:131.01048 # Seafloor depth:-171.010480 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 143.112031 meters looking forward 0.000000 meters along route # Maximum depth: 143.112031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 103.112031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827220; longitude = -121.998904; captureRadius = 10; duration = 51; initialDepth = 98.285887; finalDepth = 103.112031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:103.112031 # Seafloor depth:-143.112031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 138.285887 meters looking forward 0.000000 meters along route # Maximum depth: 138.285887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 98.285887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827460; longitude = -121.999380; captureRadius = 10; duration = 51; initialDepth = 93.995784; finalDepth = 98.285887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:98.285887 # Seafloor depth:-138.285887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 133.995784 meters looking forward 0.000000 meters along route # Maximum depth: 133.995784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.995784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827700; longitude = -121.999857; captureRadius = 10; duration = 51; initialDepth = 83.978234; finalDepth = 93.995784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.995784 # Seafloor depth:-133.995784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 123.978234 meters looking forward 0.000000 meters along route # Maximum depth: 123.978234 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 83.978234 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827956; longitude = -122.000364; captureRadius = 10; duration = 51; initialDepth = 73.778079; finalDepth = 83.978234; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:83.978234 # Seafloor depth:-123.978234 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 113.778079 meters looking forward 0.000000 meters along route # Maximum depth: 113.778079 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 73.778079 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828209; longitude = -122.000865; captureRadius = 10; duration = 51; initialDepth = 57.899300; finalDepth = 73.778079; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:73.778079 # Seafloor depth:-113.778079 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 97.899300 meters looking forward 0.000000 meters along route # Maximum depth: 97.899300 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.899300 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828463; longitude = -122.001370; captureRadius = 10; duration = 51; initialDepth = 56.193380; finalDepth = 57.899300; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.8993 # Seafloor depth:-97.899300 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 11 # Segment length 51.801962 meters # Minimum depth: 96.193380 meters looking forward 0.000000 meters along route # Maximum depth: 96.193380 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.193380 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828722; longitude = -122.001884; captureRadius = 10; duration = 51; initialDepth = 55.246624; finalDepth = 56.193380; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.19338 # Seafloor depth:-96.193380 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 10 # Segment length 51.801962 meters # Minimum depth: 95.246624 meters looking forward 0.000000 meters along route # Maximum depth: 95.246624 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.246624 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828962; longitude = -122.002360; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 55.340782; finalDepth = 55.246624; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.246624 # Seafloor depth:-95.246624 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 95.340782 meters looking forward 0.000000 meters along route # Maximum depth: 95.340782 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.340782 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829087; longitude = -122.001930; captureRadius = 10; duration = 51; initialDepth = 56.652974; finalDepth = 55.340782; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.340782 # Seafloor depth:-95.340782 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 96.652974 meters looking forward 0.000000 meters along route # Maximum depth: 96.652974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.652974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829251; longitude = -122.001370; captureRadius = 10; duration = 51; initialDepth = 56.790950; finalDepth = 56.652974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.652974 # Seafloor depth:-96.652974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 96.790950 meters looking forward 0.000000 meters along route # Maximum depth: 96.790950 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.790950 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829414; longitude = -122.000809; captureRadius = 10; duration = 51; initialDepth = 55.380902; finalDepth = 56.790950; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.79095 # Seafloor depth:-96.790950 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 95.380902 meters looking forward 0.000000 meters along route # Maximum depth: 95.380902 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.380902 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829578; longitude = -122.000248; captureRadius = 10; duration = 51; initialDepth = 55.481198; finalDepth = 55.380902; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.380902 # Seafloor depth:-95.380902 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 95.481198 meters looking forward 0.000000 meters along route # Maximum depth: 95.481198 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.481198 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829741; longitude = -121.999688; captureRadius = 10; duration = 51; initialDepth = 54.654751; finalDepth = 55.481198; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.481198 # Seafloor depth:-95.481198 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 94.654751 meters looking forward 0.000000 meters along route # Maximum depth: 94.654751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.654751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829905; longitude = -121.999128; captureRadius = 10; duration = 51; initialDepth = 56.415648; finalDepth = 54.654751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.654751 # Seafloor depth:-94.654751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 96.415648 meters looking forward 0.000000 meters along route # Maximum depth: 96.415648 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.415648 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830074; longitude = -121.998549; captureRadius = 10; duration = 51; initialDepth = 58.832031; finalDepth = 56.415648; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.415648 # Seafloor depth:-96.415648 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 98.832031 meters looking forward 0.000000 meters along route # Maximum depth: 98.832031 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.832031 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830232; longitude = -121.998007; captureRadius = 10; duration = 51; initialDepth = 59.803801; finalDepth = 58.832031; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.832031 # Seafloor depth:-98.832031 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 99.803801 meters looking forward 0.000000 meters along route # Maximum depth: 99.803801 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.803801 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830395; longitude = -121.997447; captureRadius = 10; duration = 51; initialDepth = 59.505952; finalDepth = 59.803801; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.803801 # Seafloor depth:-99.803801 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 99.505952 meters looking forward 0.000000 meters along route # Maximum depth: 99.505952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.505952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830559; longitude = -121.996886; captureRadius = 10; duration = 51; initialDepth = 58.746342; finalDepth = 59.505952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.505952 # Seafloor depth:-99.505952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 98.746342 meters looking forward 0.000000 meters along route # Maximum depth: 98.746342 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.746342 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830722; longitude = -121.996326; captureRadius = 10; duration = 51; initialDepth = 58.185823; finalDepth = 58.746342; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.746342 # Seafloor depth:-98.746342 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 98.185823 meters looking forward 0.000000 meters along route # Maximum depth: 98.185823 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.185823 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830886; longitude = -121.995765; captureRadius = 10; duration = 51; initialDepth = 58.190407; finalDepth = 58.185823; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.185823 # Seafloor depth:-98.185823 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 98.190407 meters looking forward 0.000000 meters along route # Maximum depth: 98.190407 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.190407 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831049; longitude = -121.995205; captureRadius = 10; duration = 51; initialDepth = 57.917655; finalDepth = 58.190407; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.190407 # Seafloor depth:-98.190407 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 97.917655 meters looking forward 0.000000 meters along route # Maximum depth: 97.917655 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.917655 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831213; longitude = -121.994644; captureRadius = 10; duration = 51; initialDepth = 57.806404; finalDepth = 57.917655; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.917655 # Seafloor depth:-97.917655 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 97.806404 meters looking forward 0.000000 meters along route # Maximum depth: 97.806404 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.806404 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831381; longitude = -121.994069; captureRadius = 10; duration = 51; initialDepth = 58.090678; finalDepth = 57.806404; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.806404 # Seafloor depth:-97.806404 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 98.090678 meters looking forward 0.000000 meters along route # Maximum depth: 98.090678 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.090678 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831540; longitude = -121.993524; captureRadius = 10; duration = 51; initialDepth = 58.431448; finalDepth = 58.090678; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.090678 # Seafloor depth:-98.090678 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 10 # Segment length 51.801962 meters # Minimum depth: 98.431448 meters looking forward 0.000000 meters along route # Maximum depth: 98.431448 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.431448 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831703; longitude = -121.992963; captureRadius = 10; duration = 51; initialDepth = 58.399099; finalDepth = 58.431448; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.431448 # Seafloor depth:-98.431448 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 9 # Segment length 51.801962 meters # Minimum depth: 98.399099 meters looking forward 0.000000 meters along route # Maximum depth: 98.399099 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.399099 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831861; longitude = -121.992421; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 59.817981; finalDepth = 58.399099; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.399099 # Seafloor depth:-98.399099 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 99.817981 meters looking forward 0.000000 meters along route # Maximum depth: 99.817981 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.817981 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831728; longitude = -121.991898; captureRadius = 10; duration = 51; initialDepth = 66.929482; finalDepth = 59.817981; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.817981 # Seafloor depth:-99.817981 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 106.929482 meters looking forward 0.000000 meters along route # Maximum depth: 106.929482 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.929482 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831586; longitude = -121.991338; captureRadius = 10; duration = 51; initialDepth = 69.489977; finalDepth = 66.929482; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.929482 # Seafloor depth:-106.929482 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 109.489977 meters looking forward 0.000000 meters along route # Maximum depth: 109.489977 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.489977 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831444; longitude = -121.990777; captureRadius = 10; duration = 51; initialDepth = 85.215425; finalDepth = 69.489977; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.489977 # Seafloor depth:-109.489977 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 132.474517 meters looking forward 0.000000 meters along route # Maximum depth: 132.474517 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 85.215425 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831301; longitude = -121.990217; captureRadius = 10; duration = 51; initialDepth = 101.327646; finalDepth = 85.215425; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.2590917000001 # Actual altitude: 50 # Commanded vehicle depth:85.2154252999999 # Seafloor depth:-132.474517 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 155.341836 meters looking forward 0.000000 meters along route # Maximum depth: 155.341836 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 101.327646 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831155; longitude = -121.989643; captureRadius = 10; duration = 51; initialDepth = 116.666406; finalDepth = 101.327646; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.0141895000005 # Actual altitude: 54.0141895000005 # Commanded vehicle depth:101.3276465 # Seafloor depth:-155.341836 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.06; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.61; MB_Bottom_Detect_Filter_Max_Range = 216.06; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.04; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 172.289661 meters looking forward 0.000000 meters along route # Maximum depth: 172.289661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.666406 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831016; longitude = -121.989096; captureRadius = 10; duration = 51; initialDepth = 132.391939; finalDepth = 116.666406; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.6232545000001 # Actual altitude: 55.6232545000001 # Commanded vehicle depth:116.6664065 # Seafloor depth:-172.289661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 222.49; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.25; MB_Bottom_Detect_Filter_Max_Range = 222.49; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.87; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 190.214992 meters looking forward 0.000000 meters along route # Maximum depth: 190.214992 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.391939 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830874; longitude = -121.988536; captureRadius = 10; duration = 51; initialDepth = 148.117500; finalDepth = 132.391939; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.8230526 # Actual altitude: 57.8230526 # Commanded vehicle depth:132.3919394 # Seafloor depth:-190.214992 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 231.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 205.264840 meters looking forward 0.000000 meters along route # Maximum depth: 205.264840 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 148.117500 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830732; longitude = -121.987975; captureRadius = 10; duration = 51; initialDepth = 163.843090; finalDepth = 148.117500; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 57.8230526 # Actual altitude: 57.8230526 # Commanded vehicle depth:148.1175005 # Seafloor depth:-205.264840 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 231.29; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.13; MB_Bottom_Detect_Filter_Max_Range = 231.29; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 173.47; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 222.836613 meters looking forward 0.000000 meters along route # Maximum depth: 222.836613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.843090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830589; longitude = -121.987415; captureRadius = 10; duration = 51; initialDepth = 179.278207; finalDepth = 163.843090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9935229000004 # Actual altitude: 58.9935229000004 # Commanded vehicle depth:163.8430901 # Seafloor depth:-222.836613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 235.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 219.278207 meters looking forward 0.000000 meters along route # Maximum depth: 219.278207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 179.278207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830447; longitude = -121.986854; captureRadius = 10; duration = 51; initialDepth = 186.799647; finalDepth = 179.278207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 58.9935229000004 # Actual altitude: 58.9935229000004 # Commanded vehicle depth:179.278207 # Seafloor depth:-219.278207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 235.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 23.60; MB_Bottom_Detect_Filter_Max_Range = 235.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 176.98; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 226.799647 meters looking forward 0.000000 meters along route # Maximum depth: 226.799647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.799647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830299; longitude = -121.986273; captureRadius = 10; duration = 51; initialDepth = 201.937207; finalDepth = 186.799647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:186.799647 # Seafloor depth:-226.799647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 258.497140 meters looking forward 0.000000 meters along route # Maximum depth: 258.497140 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 201.937207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830162; longitude = -121.985733; captureRadius = 10; duration = 51; initialDepth = 217.662909; finalDepth = 201.937207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 56.5599331000003 # Actual altitude: 56.5599331000003 # Commanded vehicle depth:201.9372069 # Seafloor depth:-258.497140 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 226.24; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.62; MB_Bottom_Detect_Filter_Max_Range = 226.24; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 169.68; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 281.296200 meters looking forward 0.000000 meters along route # Maximum depth: 281.296200 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.662909 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830020; longitude = -121.985173; captureRadius = 10; duration = 51; initialDepth = 233.388640; finalDepth = 217.662909; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6332907000001 # Actual altitude: 63.6332907000001 # Commanded vehicle depth:217.6629093 # Seafloor depth:-281.296200 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 295.881216 meters looking forward 0.000000 meters along route # Maximum depth: 295.881216 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 233.388640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829877; longitude = -121.984612; captureRadius = 10; duration = 51; initialDepth = 249.114398; finalDepth = 233.388640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 63.6332907000001 # Actual altitude: 63.6332907000001 # Commanded vehicle depth:233.3886396 # Seafloor depth:-295.881216 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 254.53; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.45; MB_Bottom_Detect_Filter_Max_Range = 254.53; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 190.90; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 304.512386 meters looking forward 0.000000 meters along route # Maximum depth: 304.512386 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 249.114398 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829735; longitude = -121.984052; captureRadius = 10; duration = 51; initialDepth = 264.840185; finalDepth = 249.114398; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 62.4925764000002 # Actual altitude: 62.4925764000002 # Commanded vehicle depth:249.1143984 # Seafloor depth:-304.512386 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 249.97; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 25.00; MB_Bottom_Detect_Filter_Max_Range = 249.97; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 187.48; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 313.699317 meters looking forward 0.000000 meters along route # Maximum depth: 313.699317 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 264.840185 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829592; longitude = -121.983492; captureRadius = 10; duration = 51; initialDepth = 280.559021; finalDepth = 264.840185; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 55.3979876 # Actual altitude: 55.3979876 # Commanded vehicle depth:264.8401854 # Seafloor depth:-313.699317 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 221.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 22.16; MB_Bottom_Detect_Filter_Max_Range = 221.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 166.19; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 320.559021 meters looking forward 0.000000 meters along route # Maximum depth: 320.559021 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 280.559021 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829450; longitude = -121.982931; captureRadius = 10; duration = 51; initialDepth = 279.995643; finalDepth = 280.559021; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.8591316000001 # Actual altitude: 50 # Commanded vehicle depth:280.559021 # Seafloor depth:-320.559021 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 319.995643 meters looking forward 0.000000 meters along route # Maximum depth: 319.995643 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.995643 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829308; longitude = -121.982371; captureRadius = 10; duration = 51; initialDepth = 279.156186; finalDepth = 279.995643; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.995643 # Seafloor depth:-319.995643 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 319.156186 meters looking forward 0.000000 meters along route # Maximum depth: 319.156186 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 279.156186 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829165; longitude = -121.981810; captureRadius = 10; duration = 51; initialDepth = 293.237429; finalDepth = 279.156186; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:279.156186 # Seafloor depth:-319.156186 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 333.237429 meters looking forward 0.000000 meters along route # Maximum depth: 333.237429 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 293.237429 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829023; longitude = -121.981250; captureRadius = 10; duration = 51; initialDepth = 302.538697; finalDepth = 293.237429; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:293.237429 # Seafloor depth:-333.237429 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 342.538697 meters looking forward 0.000000 meters along route # Maximum depth: 342.538697 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 302.538697 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828881; longitude = -121.980689; captureRadius = 10; duration = 51; initialDepth = 310.074634; finalDepth = 302.538697; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:302.538697 # Seafloor depth:-342.538697 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 350.074634 meters looking forward 0.000000 meters along route # Maximum depth: 350.074634 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 310.074634 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828738; longitude = -121.980129; captureRadius = 10; duration = 51; initialDepth = 319.112285; finalDepth = 310.074634; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:310.074634 # Seafloor depth:-350.074634 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 359.112285 meters looking forward 0.000000 meters along route # Maximum depth: 359.112285 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.112285 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828596; longitude = -121.979568; captureRadius = 10; duration = 51; initialDepth = 329.979390; finalDepth = 319.112285; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:319.112285 # Seafloor depth:-359.112285 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 369.979390 meters looking forward 0.000000 meters along route # Maximum depth: 369.979390 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 329.979390 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828452; longitude = -121.979001; captureRadius = 10; duration = 51; initialDepth = 343.103830; finalDepth = 329.979390; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:329.97939 # Seafloor depth:-369.979390 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 383.103830 meters looking forward 0.000000 meters along route # Maximum depth: 383.103830 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.103830 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828311; longitude = -121.978448; captureRadius = 10; duration = 51; initialDepth = 350.807045; finalDepth = 343.103830; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.10383 # Seafloor depth:-383.103830 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 390.807045 meters looking forward 0.000000 meters along route # Maximum depth: 390.807045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 350.807045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828169; longitude = -121.977887; captureRadius = 10; duration = 51; initialDepth = 364.867180; finalDepth = 350.807045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:350.807045 # Seafloor depth:-390.807045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 404.867180 meters looking forward 0.000000 meters along route # Maximum depth: 404.867180 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 364.867180 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828026; longitude = -121.977327; captureRadius = 10; duration = 51; initialDepth = 375.981146; finalDepth = 364.867180; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:364.86718 # Seafloor depth:-404.867180 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 415.981146 meters looking forward 0.000000 meters along route # Maximum depth: 415.981146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 375.981146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827884; longitude = -121.976766; captureRadius = 10; duration = 51; initialDepth = 377.060762; finalDepth = 375.981146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:375.981146 # Seafloor depth:-415.981146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 417.060762 meters looking forward 0.000000 meters along route # Maximum depth: 417.060762 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.060762 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827741; longitude = -121.976206; captureRadius = 10; duration = 51; initialDepth = 377.805575; finalDepth = 377.060762; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.060762 # Seafloor depth:-417.060762 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 417.805575 meters looking forward 0.000000 meters along route # Maximum depth: 417.805575 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 377.805575 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827595; longitude = -121.975631; captureRadius = 10; duration = 51; initialDepth = 373.553476; finalDepth = 377.805575; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:377.805575 # Seafloor depth:-417.805575 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 413.553476 meters looking forward 0.000000 meters along route # Maximum depth: 413.553476 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 373.553476 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827457; longitude = -121.975085; captureRadius = 10; duration = 51; initialDepth = 360.308982; finalDepth = 373.553476; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:373.553476 # Seafloor depth:-413.553476 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 400.308982 meters looking forward 0.000000 meters along route # Maximum depth: 400.308982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 360.308982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827314; longitude = -121.974524; captureRadius = 10; duration = 51; initialDepth = 343.118071; finalDepth = 360.308982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:360.308982 # Seafloor depth:-400.308982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 383.118071 meters looking forward 0.000000 meters along route # Maximum depth: 383.118071 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 343.118071 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827172; longitude = -121.973964; captureRadius = 10; duration = 51; initialDepth = 319.492470; finalDepth = 343.118071; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:343.118071 # Seafloor depth:-383.118071 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 359.492470 meters looking forward 0.000000 meters along route # Maximum depth: 359.492470 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.492470 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827029; longitude = -121.973403; captureRadius = 10; duration = 51; initialDepth = 276.908645; finalDepth = 319.492470; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:319.49247 # Seafloor depth:-359.492470 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 316.908645 meters looking forward 0.000000 meters along route # Maximum depth: 316.908645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 276.908645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826887; longitude = -121.972843; captureRadius = 10; duration = 51; initialDepth = 243.301943; finalDepth = 276.908645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:276.908645 # Seafloor depth:-316.908645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 283.301943 meters looking forward 0.000000 meters along route # Maximum depth: 283.301943 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 243.301943 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826739; longitude = -121.972261; captureRadius = 10; duration = 51; initialDepth = 224.909613; finalDepth = 243.301943; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:243.301943 # Seafloor depth:-283.301943 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 264.909613 meters looking forward 0.000000 meters along route # Maximum depth: 264.909613 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 224.909613 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826602; longitude = -121.971722; captureRadius = 10; duration = 51; initialDepth = 206.291741; finalDepth = 224.909613; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:224.909613 # Seafloor depth:-264.909613 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 246.291741 meters looking forward 0.000000 meters along route # Maximum depth: 246.291741 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 206.291741 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826460; longitude = -121.971162; captureRadius = 10; duration = 51; initialDepth = 186.507008; finalDepth = 206.291741; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:206.291741 # Seafloor depth:-246.291741 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 226.507008 meters looking forward 0.000000 meters along route # Maximum depth: 226.507008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 186.507008 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826317; longitude = -121.970601; captureRadius = 10; duration = 51; initialDepth = 170.298236; finalDepth = 186.507008; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:186.507008 # Seafloor depth:-226.507008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 210.298236 meters looking forward 0.000000 meters along route # Maximum depth: 210.298236 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.298236 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826175; longitude = -121.970041; captureRadius = 10; duration = 51; initialDepth = 154.495825; finalDepth = 170.298236; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.298236 # Seafloor depth:-210.298236 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 194.495825 meters looking forward 0.000000 meters along route # Maximum depth: 194.495825 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.495825 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826033; longitude = -121.969480; captureRadius = 10; duration = 51; initialDepth = 142.493764; finalDepth = 154.495825; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:154.495825 # Seafloor depth:-194.495825 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 182.493764 meters looking forward 0.000000 meters along route # Maximum depth: 182.493764 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 142.493764 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825890; longitude = -121.968920; captureRadius = 10; duration = 51; initialDepth = 127.327126; finalDepth = 142.493764; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:142.493764 # Seafloor depth:-182.493764 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 167.327126 meters looking forward 0.000000 meters along route # Maximum depth: 167.327126 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.327126 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825748; longitude = -121.968359; captureRadius = 10; duration = 51; initialDepth = 116.254065; finalDepth = 127.327126; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:127.327126 # Seafloor depth:-167.327126 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 156.254065 meters looking forward 0.000000 meters along route # Maximum depth: 156.254065 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 116.254065 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825606; longitude = -121.967799; captureRadius = 10; duration = 51; initialDepth = 104.704014; finalDepth = 116.254065; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:116.254065 # Seafloor depth:-156.254065 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 144.704014 meters looking forward 0.000000 meters along route # Maximum depth: 144.704014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 104.704014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825463; longitude = -121.967239; captureRadius = 10; duration = 51; initialDepth = 95.592170; finalDepth = 104.704014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:104.704014 # Seafloor depth:-144.704014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 135.592170 meters looking forward 0.000000 meters along route # Maximum depth: 135.592170 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 95.592170 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825321; longitude = -121.966678; captureRadius = 10; duration = 51; initialDepth = 86.693191; finalDepth = 95.592170; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:95.59217 # Seafloor depth:-135.592170 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 126.693191 meters looking forward 0.000000 meters along route # Maximum depth: 126.693191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.693191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825178; longitude = -121.966118; captureRadius = 10; duration = 51; initialDepth = 77.819275; finalDepth = 86.693191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:86.693191 # Seafloor depth:-126.693191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 117.819275 meters looking forward 0.000000 meters along route # Maximum depth: 117.819275 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.819275 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825036; longitude = -121.965557; captureRadius = 10; duration = 51; initialDepth = 71.762940; finalDepth = 77.819275; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:77.819275 # Seafloor depth:-117.819275 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 111.762940 meters looking forward 0.000000 meters along route # Maximum depth: 111.762940 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.762940 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824892; longitude = -121.964990; captureRadius = 10; duration = 51; initialDepth = 64.997270; finalDepth = 71.762940; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.76294 # Seafloor depth:-111.762940 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 104.997270 meters looking forward 0.000000 meters along route # Maximum depth: 104.997270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.997270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824751; longitude = -121.964436; captureRadius = 10; duration = 51; initialDepth = 58.781859; finalDepth = 64.997270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.99727 # Seafloor depth:-104.997270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 9 # Segment length 51.801962 meters # Minimum depth: 98.781859 meters looking forward 0.000000 meters along route # Maximum depth: 98.781859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.781859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824609; longitude = -121.963876; captureRadius = 10; duration = 51; initialDepth = 54.378784; finalDepth = 58.781859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.781859 # Seafloor depth:-98.781859 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 8 # Segment length 51.801962 meters # Minimum depth: 94.378784 meters looking forward 0.000000 meters along route # Maximum depth: 94.378784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.378784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824471; longitude = -121.963334; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 55.021562; finalDepth = 54.378784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.378784 # Seafloor depth:-94.378784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 95.021562 meters looking forward 0.000000 meters along route # Maximum depth: 95.021562 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.021562 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824621; longitude = -121.963198; captureRadius = 10; duration = 51; initialDepth = 55.352710; finalDepth = 55.021562; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.021562 # Seafloor depth:-95.021562 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 95.352710 meters looking forward 0.000000 meters along route # Maximum depth: 95.352710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.352710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.824986; longitude = -121.962867; captureRadius = 10; duration = 51; initialDepth = 55.890457; finalDepth = 55.352710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.35271 # Seafloor depth:-95.352710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 95.890457 meters looking forward 0.000000 meters along route # Maximum depth: 95.890457 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.890457 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825358; longitude = -121.962531; captureRadius = 10; duration = 51; initialDepth = 56.179896; finalDepth = 55.890457; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.890457 # Seafloor depth:-95.890457 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 96.179896 meters looking forward 0.000000 meters along route # Maximum depth: 96.179896 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.179896 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.825729; longitude = -121.962195; captureRadius = 10; duration = 51; initialDepth = 55.989310; finalDepth = 56.179896; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.179896 # Seafloor depth:-96.179896 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 95.989310 meters looking forward 0.000000 meters along route # Maximum depth: 95.989310 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.989310 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826100; longitude = -121.961858; captureRadius = 10; duration = 51; initialDepth = 56.465412; finalDepth = 55.989310; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.98931 # Seafloor depth:-95.989310 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 96.465412 meters looking forward 0.000000 meters along route # Maximum depth: 96.465412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.465412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826471; longitude = -121.961522; captureRadius = 10; duration = 51; initialDepth = 56.637900; finalDepth = 56.465412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.465412 # Seafloor depth:-96.465412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 96.637900 meters looking forward 0.000000 meters along route # Maximum depth: 96.637900 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.637900 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.826842; longitude = -121.961186; captureRadius = 10; duration = 51; initialDepth = 56.613614; finalDepth = 56.637900; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.6379 # Seafloor depth:-96.637900 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 8 # Segment length 51.801962 meters # Minimum depth: 96.613614 meters looking forward 0.000000 meters along route # Maximum depth: 96.613614 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.613614 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827235; longitude = -121.960830; captureRadius = 10; duration = 51; initialDepth = 56.477812; finalDepth = 56.613614; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.613614 # Seafloor depth:-96.613614 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 7 # Segment length 51.801962 meters # Minimum depth: 96.477812 meters looking forward 0.000000 meters along route # Maximum depth: 96.477812 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.477812 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827625; longitude = -121.960476; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 58.975640; finalDepth = 56.477812; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.477812 # Seafloor depth:-96.477812 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 98.975640 meters looking forward 0.000000 meters along route # Maximum depth: 98.975640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.975640 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.827777; longitude = -121.960793; captureRadius = 10; duration = 51; initialDepth = 62.433414; finalDepth = 58.975640; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.97564 # Seafloor depth:-98.975640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 102.433414 meters looking forward 0.000000 meters along route # Maximum depth: 102.433414 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.433414 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828019; longitude = -121.961298; captureRadius = 10; duration = 51; initialDepth = 70.410708; finalDepth = 62.433414; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.433414 # Seafloor depth:-102.433414 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 110.410708 meters looking forward 0.000000 meters along route # Maximum depth: 110.410708 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 70.410708 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828260; longitude = -121.961802; captureRadius = 10; duration = 51; initialDepth = 84.012349; finalDepth = 70.410708; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:70.410708 # Seafloor depth:-110.410708 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 124.012349 meters looking forward 0.000000 meters along route # Maximum depth: 124.012349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.012349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828502; longitude = -121.962307; captureRadius = 10; duration = 51; initialDepth = 96.173152; finalDepth = 84.012349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.012349 # Seafloor depth:-124.012349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 136.173152 meters looking forward 0.000000 meters along route # Maximum depth: 136.173152 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 96.173152 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828744; longitude = -121.962811; captureRadius = 10; duration = 51; initialDepth = 107.275994; finalDepth = 96.173152; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:96.173152 # Seafloor depth:-136.173152 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 147.275994 meters looking forward 0.000000 meters along route # Maximum depth: 147.275994 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.275994 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.828992; longitude = -121.963330; captureRadius = 10; duration = 51; initialDepth = 119.355128; finalDepth = 107.275994; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:107.275994 # Seafloor depth:-147.275994 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 159.355128 meters looking forward 0.000000 meters along route # Maximum depth: 159.355128 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.355128 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829227; longitude = -121.963820; captureRadius = 10; duration = 51; initialDepth = 131.525743; finalDepth = 119.355128; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:119.355128 # Seafloor depth:-159.355128 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 171.525743 meters looking forward 0.000000 meters along route # Maximum depth: 171.525743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 131.525743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829469; longitude = -121.964324; captureRadius = 10; duration = 51; initialDepth = 146.309795; finalDepth = 131.525743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:131.525743 # Seafloor depth:-171.525743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 186.309795 meters looking forward 0.000000 meters along route # Maximum depth: 186.309795 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 146.309795 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829713; longitude = -121.964835; captureRadius = 10; duration = 51; initialDepth = 161.820277; finalDepth = 146.309795; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:146.309795 # Seafloor depth:-186.309795 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 204.451262 meters looking forward 0.000000 meters along route # Maximum depth: 204.451262 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.820277 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.829952; longitude = -121.965333; captureRadius = 10; duration = 51; initialDepth = 177.530241; finalDepth = 161.820277; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.6309846000002 # Actual altitude: 50 # Commanded vehicle depth:161.8202774 # Seafloor depth:-204.451262 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 222.927779 meters looking forward 0.000000 meters along route # Maximum depth: 222.927779 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.530241 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830194; longitude = -121.965837; captureRadius = 10; duration = 51; initialDepth = 193.240168; finalDepth = 177.530241; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3975375000003 # Actual altitude: 50 # Commanded vehicle depth:177.5302415 # Seafloor depth:-222.927779 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 237.547008 meters looking forward 0.000000 meters along route # Maximum depth: 237.547008 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 193.240168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830435; longitude = -121.966342; captureRadius = 10; duration = 51; initialDepth = 208.950056; finalDepth = 193.240168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.3975375000003 # Actual altitude: 50 # Commanded vehicle depth:193.2401678 # Seafloor depth:-237.547008 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 249.603862 meters looking forward 0.000000 meters along route # Maximum depth: 249.603862 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 208.950056 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830677; longitude = -121.966846; captureRadius = 10; duration = 51; initialDepth = 214.943738; finalDepth = 208.950056; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.3068402000001 # Actual altitude: 50 # Commanded vehicle depth:208.9500563 # Seafloor depth:-249.603862 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 254.943738 meters looking forward 0.000000 meters along route # Maximum depth: 254.943738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 214.943738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.830918; longitude = -121.967351; captureRadius = 10; duration = 51; initialDepth = 222.863173; finalDepth = 214.943738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.6538057000001 # Actual altitude: 50 # Commanded vehicle depth:214.943738 # Seafloor depth:-254.943738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 262.863173 meters looking forward 0.000000 meters along route # Maximum depth: 262.863173 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 222.863173 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831160; longitude = -121.967855; captureRadius = 10; duration = 51; initialDepth = 238.199657; finalDepth = 222.863173; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:222.863173 # Seafloor depth:-262.863173 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 278.199657 meters looking forward 0.000000 meters along route # Maximum depth: 278.199657 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 238.199657 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831402; longitude = -121.968359; captureRadius = 10; duration = 51; initialDepth = 254.401370; finalDepth = 238.199657; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:238.199657 # Seafloor depth:-278.199657 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 299.579569 meters looking forward 0.000000 meters along route # Maximum depth: 299.579569 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 254.401370 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831651; longitude = -121.968880; captureRadius = 10; duration = 51; initialDepth = 269.619093; finalDepth = 254.401370; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 45.1781987000001 # Actual altitude: 50 # Commanded vehicle depth:254.4013703 # Seafloor depth:-299.579569 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 316.119781 meters looking forward 0.000000 meters along route # Maximum depth: 316.119781 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.619093 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.831885; longitude = -121.969368; captureRadius = 10; duration = 51; initialDepth = 285.328754; finalDepth = 269.619093; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5006884 # Actual altitude: 50 # Commanded vehicle depth:269.6190926 # Seafloor depth:-316.119781 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 326.506041 meters looking forward 0.000000 meters along route # Maximum depth: 326.506041 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 285.328754 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832127; longitude = -121.969873; captureRadius = 10; duration = 51; initialDepth = 296.903821; finalDepth = 285.328754; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 46.5006884 # Actual altitude: 50 # Commanded vehicle depth:285.3287537 # Seafloor depth:-326.506041 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 336.903821 meters looking forward 0.000000 meters along route # Maximum depth: 336.903821 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 296.903821 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832372; longitude = -121.970385; captureRadius = 10; duration = 51; initialDepth = 307.849038; finalDepth = 296.903821; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 41.1772873000001 # Actual altitude: 50 # Commanded vehicle depth:296.903821 # Seafloor depth:-336.903821 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 347.849038 meters looking forward 0.000000 meters along route # Maximum depth: 347.849038 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 307.849038 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832610; longitude = -121.970881; captureRadius = 10; duration = 51; initialDepth = 315.976146; finalDepth = 307.849038; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:307.849038 # Seafloor depth:-347.849038 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 355.976146 meters looking forward 0.000000 meters along route # Maximum depth: 355.976146 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.976146 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.832852; longitude = -121.971386; captureRadius = 10; duration = 51; initialDepth = 320.223014; finalDepth = 315.976146; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.976146 # Seafloor depth:-355.976146 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 360.223014 meters looking forward 0.000000 meters along route # Maximum depth: 360.223014 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 320.223014 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833093; longitude = -121.971890; captureRadius = 10; duration = 51; initialDepth = 319.564445; finalDepth = 320.223014; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:320.223014 # Seafloor depth:-360.223014 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 359.564445 meters looking forward 0.000000 meters along route # Maximum depth: 359.564445 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 319.564445 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833335; longitude = -121.972395; captureRadius = 10; duration = 51; initialDepth = 315.833272; finalDepth = 319.564445; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:319.564445 # Seafloor depth:-359.564445 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 355.833272 meters looking forward 0.000000 meters along route # Maximum depth: 355.833272 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 315.833272 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833577; longitude = -121.972899; captureRadius = 10; duration = 51; initialDepth = 304.032226; finalDepth = 315.833272; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:315.833272 # Seafloor depth:-355.833272 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 344.032226 meters looking forward 0.000000 meters along route # Maximum depth: 344.032226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 304.032226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833818; longitude = -121.973403; captureRadius = 10; duration = 51; initialDepth = 289.681625; finalDepth = 304.032226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:304.032226 # Seafloor depth:-344.032226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 329.681625 meters looking forward 0.000000 meters along route # Maximum depth: 329.681625 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 289.681625 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834060; longitude = -121.973908; captureRadius = 10; duration = 51; initialDepth = 269.726155; finalDepth = 289.681625; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:289.681625 # Seafloor depth:-329.681625 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 309.726155 meters looking forward 0.000000 meters along route # Maximum depth: 309.726155 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 269.726155 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834310; longitude = -121.974429; captureRadius = 10; duration = 51; initialDepth = 244.167833; finalDepth = 269.726155; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:269.726155 # Seafloor depth:-309.726155 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 284.167833 meters looking forward 0.000000 meters along route # Maximum depth: 284.167833 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 244.167833 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834543; longitude = -121.974917; captureRadius = 10; duration = 51; initialDepth = 219.936887; finalDepth = 244.167833; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:244.167833 # Seafloor depth:-284.167833 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 259.936887 meters looking forward 0.000000 meters along route # Maximum depth: 259.936887 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.936887 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834785; longitude = -121.975421; captureRadius = 10; duration = 51; initialDepth = 200.274129; finalDepth = 219.936887; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:219.936887 # Seafloor depth:-259.936887 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 240.274129 meters looking forward 0.000000 meters along route # Maximum depth: 240.274129 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 200.274129 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835031; longitude = -121.975934; captureRadius = 10; duration = 51; initialDepth = 177.259012; finalDepth = 200.274129; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:200.274129 # Seafloor depth:-240.274129 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 217.259012 meters looking forward 0.000000 meters along route # Maximum depth: 217.259012 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.259012 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835268; longitude = -121.976430; captureRadius = 10; duration = 51; initialDepth = 155.983028; finalDepth = 177.259012; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:177.259012 # Seafloor depth:-217.259012 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 195.983028 meters looking forward 0.000000 meters along route # Maximum depth: 195.983028 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.983028 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835510; longitude = -121.976934; captureRadius = 10; duration = 51; initialDepth = 140.348859; finalDepth = 155.983028; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:155.983028 # Seafloor depth:-195.983028 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 180.348859 meters looking forward 0.000000 meters along route # Maximum depth: 180.348859 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.348859 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835752; longitude = -121.977439; captureRadius = 10; duration = 51; initialDepth = 114.078062; finalDepth = 140.348859; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.348859 # Seafloor depth:-180.348859 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 154.078062 meters looking forward 0.000000 meters along route # Maximum depth: 154.078062 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.078062 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835993; longitude = -121.977943; captureRadius = 10; duration = 51; initialDepth = 81.020944; finalDepth = 114.078062; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:114.078062 # Seafloor depth:-154.078062 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 121.020944 meters looking forward 0.000000 meters along route # Maximum depth: 121.020944 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 81.020944 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836235; longitude = -121.978448; captureRadius = 10; duration = 51; initialDepth = 67.239226; finalDepth = 81.020944; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:81.020944 # Seafloor depth:-121.020944 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 107.239226 meters looking forward 0.000000 meters along route # Maximum depth: 107.239226 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.239226 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836476; longitude = -121.978952; captureRadius = 10; duration = 51; initialDepth = 61.376191; finalDepth = 67.239226; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.239226 # Seafloor depth:-107.239226 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 101.376191 meters looking forward 0.000000 meters along route # Maximum depth: 101.376191 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.376191 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836718; longitude = -121.979456; captureRadius = 10; duration = 51; initialDepth = 54.124768; finalDepth = 61.376191; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.376191 # Seafloor depth:-101.376191 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 94.124768 meters looking forward 0.000000 meters along route # Maximum depth: 94.124768 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.124768 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836968; longitude = -121.979979; captureRadius = 10; duration = 51; initialDepth = 52.512001; finalDepth = 54.124768; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.124768 # Seafloor depth:-94.124768 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 7 # Segment length 51.801962 meters # Minimum depth: 92.512001 meters looking forward 0.000000 meters along route # Maximum depth: 92.512001 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.512001 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837201; longitude = -121.980465; captureRadius = 10; duration = 51; initialDepth = 52.646450; finalDepth = 52.512001; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.512001 # Seafloor depth:-92.512001 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 6 # Segment length 51.801962 meters # Minimum depth: 92.646450 meters looking forward 0.000000 meters along route # Maximum depth: 92.646450 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.646450 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837434; longitude = -121.980951; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 53.420113; finalDepth = 52.646450; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.64645 # Seafloor depth:-92.646450 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 93.420113 meters looking forward 0.000000 meters along route # Maximum depth: 93.420113 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.420113 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837565; longitude = -121.980857; captureRadius = 10; duration = 51; initialDepth = 57.180592; finalDepth = 53.420113; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.420113 # Seafloor depth:-93.420113 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 97.180592 meters looking forward 0.000000 meters along route # Maximum depth: 97.180592 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.180592 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837958; longitude = -121.980577; captureRadius = 10; duration = 51; initialDepth = 57.610258; finalDepth = 57.180592; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.180592 # Seafloor depth:-97.180592 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 97.610258 meters looking forward 0.000000 meters along route # Maximum depth: 97.610258 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.610258 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838350; longitude = -121.980297; captureRadius = 10; duration = 51; initialDepth = 58.456042; finalDepth = 57.610258; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.610258 # Seafloor depth:-97.610258 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 98.456042 meters looking forward 0.000000 meters along route # Maximum depth: 98.456042 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.456042 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838742; longitude = -121.980017; captureRadius = 10; duration = 51; initialDepth = 58.203982; finalDepth = 58.456042; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.456042 # Seafloor depth:-98.456042 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 98.203982 meters looking forward 0.000000 meters along route # Maximum depth: 98.203982 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.203982 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839135; longitude = -121.979737; captureRadius = 10; duration = 51; initialDepth = 58.070020; finalDepth = 58.203982; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.203982 # Seafloor depth:-98.203982 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 98.070020 meters looking forward 0.000000 meters along route # Maximum depth: 98.070020 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.070020 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839527; longitude = -121.979456; captureRadius = 10; duration = 51; initialDepth = 58.141139; finalDepth = 58.070020; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.07002 # Seafloor depth:-98.070020 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 98.141139 meters looking forward 0.000000 meters along route # Maximum depth: 98.141139 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.141139 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839920; longitude = -121.979176; captureRadius = 10; duration = 51; initialDepth = 58.515908; finalDepth = 58.141139; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.141139 # Seafloor depth:-98.141139 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 98.515908 meters looking forward 0.000000 meters along route # Maximum depth: 98.515908 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.515908 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840312; longitude = -121.978896; captureRadius = 10; duration = 51; initialDepth = 58.277645; finalDepth = 58.515908; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.515908 # Seafloor depth:-98.515908 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 98.277645 meters looking forward 0.000000 meters along route # Maximum depth: 98.277645 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.277645 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840705; longitude = -121.978616; captureRadius = 10; duration = 51; initialDepth = 58.685749; finalDepth = 58.277645; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.277645 # Seafloor depth:-98.277645 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 98.685749 meters looking forward 0.000000 meters along route # Maximum depth: 98.685749 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.685749 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841097; longitude = -121.978335; captureRadius = 10; duration = 51; initialDepth = 59.445934; finalDepth = 58.685749; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.685749 # Seafloor depth:-98.685749 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 99.445934 meters looking forward 0.000000 meters along route # Maximum depth: 99.445934 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.445934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841490; longitude = -121.978055; captureRadius = 10; duration = 51; initialDepth = 60.090917; finalDepth = 59.445934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.445934 # Seafloor depth:-99.445934 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 6 # Segment length 51.801962 meters # Minimum depth: 100.090917 meters looking forward 0.000000 meters along route # Maximum depth: 100.090917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.090917 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841882; longitude = -121.977775; captureRadius = 10; duration = 51; initialDepth = 63.379845; finalDepth = 60.090917; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.090917 # Seafloor depth:-100.090917 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 5 # Segment length 51.801962 meters # Minimum depth: 103.379845 meters looking forward 0.000000 meters along route # Maximum depth: 103.379845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.379845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842301; longitude = -121.977476; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 66.197647; finalDepth = 63.379845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.379845 # Seafloor depth:-103.379845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 106.197647 meters looking forward 0.000000 meters along route # Maximum depth: 106.197647 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.197647 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842100; longitude = -121.976990; captureRadius = 10; duration = 51; initialDepth = 69.101207; finalDepth = 66.197647; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.197647 # Seafloor depth:-106.197647 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 109.101207 meters looking forward 0.000000 meters along route # Maximum depth: 109.101207 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.101207 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841891; longitude = -121.976486; captureRadius = 10; duration = 51; initialDepth = 71.650837; finalDepth = 69.101207; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.101207 # Seafloor depth:-109.101207 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 111.650837 meters looking forward 0.000000 meters along route # Maximum depth: 111.650837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.650837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841682; longitude = -121.975982; captureRadius = 10; duration = 51; initialDepth = 75.043125; finalDepth = 71.650837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.650837 # Seafloor depth:-111.650837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 115.043125 meters looking forward 0.000000 meters along route # Maximum depth: 115.043125 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.043125 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841473; longitude = -121.975477; captureRadius = 10; duration = 51; initialDepth = 78.178918; finalDepth = 75.043125; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.043125 # Seafloor depth:-115.043125 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 118.178918 meters looking forward 0.000000 meters along route # Maximum depth: 118.178918 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 78.178918 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841265; longitude = -121.974973; captureRadius = 10; duration = 51; initialDepth = 84.043286; finalDepth = 78.178918; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:78.178918 # Seafloor depth:-118.178918 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 124.043286 meters looking forward 0.000000 meters along route # Maximum depth: 124.043286 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 84.043286 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841056; longitude = -121.974468; captureRadius = 10; duration = 51; initialDepth = 91.213883; finalDepth = 84.043286; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:84.043286 # Seafloor depth:-124.043286 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 131.213883 meters looking forward 0.000000 meters along route # Maximum depth: 131.213883 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 91.213883 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840847; longitude = -121.973964; captureRadius = 10; duration = 51; initialDepth = 102.164892; finalDepth = 91.213883; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:91.213883 # Seafloor depth:-131.213883 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 142.164892 meters looking forward 0.000000 meters along route # Maximum depth: 142.164892 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.164892 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840638; longitude = -121.973460; captureRadius = 10; duration = 51; initialDepth = 113.613589; finalDepth = 102.164892; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:102.164892 # Seafloor depth:-142.164892 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 153.613589 meters looking forward 0.000000 meters along route # Maximum depth: 153.613589 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 113.613589 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840429; longitude = -121.972955; captureRadius = 10; duration = 51; initialDepth = 124.472995; finalDepth = 113.613589; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:113.613589 # Seafloor depth:-153.613589 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 164.472995 meters looking forward 0.000000 meters along route # Maximum depth: 164.472995 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 124.472995 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840220; longitude = -121.972451; captureRadius = 10; duration = 51; initialDepth = 135.746298; finalDepth = 124.472995; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:124.472995 # Seafloor depth:-164.472995 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 175.746298 meters looking forward 0.000000 meters along route # Maximum depth: 175.746298 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.746298 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840012; longitude = -121.971946; captureRadius = 10; duration = 51; initialDepth = 150.924677; finalDepth = 135.746298; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:135.746298 # Seafloor depth:-175.746298 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 191.073299 meters looking forward 0.000000 meters along route # Maximum depth: 191.073299 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 150.924677 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839803; longitude = -121.971442; captureRadius = 10; duration = 51; initialDepth = 166.103090; finalDepth = 150.924677; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40.1486218999999 # Actual altitude: 50 # Commanded vehicle depth:150.9246771 # Seafloor depth:-191.073299 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 214.477117 meters looking forward 0.000000 meters along route # Maximum depth: 214.477117 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.103090 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839594; longitude = -121.970938; captureRadius = 10; duration = 51; initialDepth = 181.281537; finalDepth = 166.103090; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3740271999999 # Actual altitude: 50 # Commanded vehicle depth:166.1030898 # Seafloor depth:-214.477117 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 249.721720 meters looking forward 0.000000 meters along route # Maximum depth: 249.721720 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.281537 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839385; longitude = -121.970433; captureRadius = 10; duration = 51; initialDepth = 196.460018; finalDepth = 181.281537; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 68.440183 # Actual altitude: 68.440183 # Commanded vehicle depth:181.281537 # Seafloor depth:-249.721720 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 273.76; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 27.38; MB_Bottom_Detect_Filter_Max_Range = 273.76; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 205.32; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 281.356303 meters looking forward 0.000000 meters along route # Maximum depth: 281.356303 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 196.460018 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839176; longitude = -121.969929; captureRadius = 10; duration = 51; initialDepth = 211.638533; finalDepth = 196.460018; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8962851999999 # Actual altitude: 84.8962851999999 # Commanded vehicle depth:196.4600178 # Seafloor depth:-281.356303 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 339.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 288.255917 meters looking forward 0.000000 meters along route # Maximum depth: 288.255917 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.638533 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838967; longitude = -121.969424; captureRadius = 10; duration = 51; initialDepth = 226.817082; finalDepth = 211.638533; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 84.8962851999999 # Actual altitude: 84.8962851999999 # Commanded vehicle depth:211.6385331 # Seafloor depth:-288.255917 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 339.59; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 33.96; MB_Bottom_Detect_Filter_Max_Range = 339.59; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 254.69; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 288.424523 meters looking forward 0.000000 meters along route # Maximum depth: 288.424523 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 226.817082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838759; longitude = -121.968920; captureRadius = 10; duration = 51; initialDepth = 241.995665; finalDepth = 226.817082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 76.6173838999998 # Actual altitude: 76.6173838999998 # Commanded vehicle depth:226.8170823 # Seafloor depth:-288.424523 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 306.47; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 30.65; MB_Bottom_Detect_Filter_Max_Range = 306.47; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 229.85; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 300.847349 meters looking forward 0.000000 meters along route # Maximum depth: 300.847349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 241.995665 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838550; longitude = -121.968416; captureRadius = 10; duration = 51; initialDepth = 257.174283; finalDepth = 241.995665; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.6074407 # Actual altitude: 61.6074407 # Commanded vehicle depth:241.9956654 # Seafloor depth:-300.847349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 246.43; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.64; MB_Bottom_Detect_Filter_Max_Range = 246.43; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 184.82; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 318.271640 meters looking forward 0.000000 meters along route # Maximum depth: 318.271640 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 257.174283 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838341; longitude = -121.967911; captureRadius = 10; duration = 51; initialDepth = 272.352934; finalDepth = 257.174283; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.0973572999999 # Actual altitude: 61.0973572999999 # Commanded vehicle depth:257.1742827 # Seafloor depth:-318.271640 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 244.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 320.343434 meters looking forward 0.000000 meters along route # Maximum depth: 320.343434 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 272.352934 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838132; longitude = -121.967407; captureRadius = 10; duration = 51; initialDepth = 265.215865; finalDepth = 272.352934; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 61.0973572999999 # Actual altitude: 61.0973572999999 # Commanded vehicle depth:272.3529339 # Seafloor depth:-320.343434 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 244.39; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 24.44; MB_Bottom_Detect_Filter_Max_Range = 244.39; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 183.29; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 305.215865 meters looking forward 0.000000 meters along route # Maximum depth: 305.215865 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 265.215865 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837923; longitude = -121.966902; captureRadius = 10; duration = 51; initialDepth = 255.234847; finalDepth = 265.215865; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 47.9905000999999 # Actual altitude: 50 # Commanded vehicle depth:265.215865 # Seafloor depth:-305.215865 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 295.234847 meters looking forward 0.000000 meters along route # Maximum depth: 295.234847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 255.234847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837714; longitude = -121.966398; captureRadius = 10; duration = 51; initialDepth = 246.048356; finalDepth = 255.234847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:255.234847 # Seafloor depth:-295.234847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 286.048356 meters looking forward 0.000000 meters along route # Maximum depth: 286.048356 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 246.048356 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837506; longitude = -121.965894; captureRadius = 10; duration = 51; initialDepth = 235.425487; finalDepth = 246.048356; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:246.048356 # Seafloor depth:-286.048356 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 275.425487 meters looking forward 0.000000 meters along route # Maximum depth: 275.425487 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 235.425487 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837297; longitude = -121.965389; captureRadius = 10; duration = 51; initialDepth = 230.082210; finalDepth = 235.425487; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:235.425487 # Seafloor depth:-275.425487 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 270.082210 meters looking forward 0.000000 meters along route # Maximum depth: 270.082210 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 230.082210 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837088; longitude = -121.964885; captureRadius = 10; duration = 51; initialDepth = 219.955582; finalDepth = 230.082210; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:230.08221 # Seafloor depth:-270.082210 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 259.955582 meters looking forward 0.000000 meters along route # Maximum depth: 259.955582 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 219.955582 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836878; longitude = -121.964378; captureRadius = 10; duration = 51; initialDepth = 197.972598; finalDepth = 219.955582; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:219.955582 # Seafloor depth:-259.955582 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 237.972598 meters looking forward 0.000000 meters along route # Maximum depth: 237.972598 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.972598 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836670; longitude = -121.963876; captureRadius = 10; duration = 51; initialDepth = 177.579182; finalDepth = 197.972598; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:197.972598 # Seafloor depth:-237.972598 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 217.579182 meters looking forward 0.000000 meters along route # Maximum depth: 217.579182 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 177.579182 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836461; longitude = -121.963372; captureRadius = 10; duration = 51; initialDepth = 163.312276; finalDepth = 177.579182; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:177.579182 # Seafloor depth:-217.579182 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 203.312276 meters looking forward 0.000000 meters along route # Maximum depth: 203.312276 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.312276 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836253; longitude = -121.962867; captureRadius = 10; duration = 51; initialDepth = 152.276098; finalDepth = 163.312276; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:163.312276 # Seafloor depth:-203.312276 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 192.276098 meters looking forward 0.000000 meters along route # Maximum depth: 192.276098 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 152.276098 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836044; longitude = -121.962363; captureRadius = 10; duration = 51; initialDepth = 140.686363; finalDepth = 152.276098; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:152.276098 # Seafloor depth:-192.276098 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 180.686363 meters looking forward 0.000000 meters along route # Maximum depth: 180.686363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.686363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835835; longitude = -121.961858; captureRadius = 10; duration = 51; initialDepth = 127.596993; finalDepth = 140.686363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.686363 # Seafloor depth:-180.686363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 167.596993 meters looking forward 0.000000 meters along route # Maximum depth: 167.596993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.596993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835626; longitude = -121.961354; captureRadius = 10; duration = 51; initialDepth = 115.970784; finalDepth = 127.596993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:127.596993 # Seafloor depth:-167.596993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 155.970784 meters looking forward 0.000000 meters along route # Maximum depth: 155.970784 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 115.970784 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835417; longitude = -121.960850; captureRadius = 10; duration = 51; initialDepth = 100.809718; finalDepth = 115.970784; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:115.970784 # Seafloor depth:-155.970784 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 140.809718 meters looking forward 0.000000 meters along route # Maximum depth: 140.809718 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.809718 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835208; longitude = -121.960345; captureRadius = 10; duration = 51; initialDepth = 86.356696; finalDepth = 100.809718; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.809718 # Seafloor depth:-140.809718 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 126.356696 meters looking forward 0.000000 meters along route # Maximum depth: 126.356696 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 86.356696 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835000; longitude = -121.959841; captureRadius = 10; duration = 51; initialDepth = 77.056168; finalDepth = 86.356696; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:86.356696 # Seafloor depth:-126.356696 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 117.056168 meters looking forward 0.000000 meters along route # Maximum depth: 117.056168 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 77.056168 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834791; longitude = -121.959336; captureRadius = 10; duration = 51; initialDepth = 72.696672; finalDepth = 77.056168; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:77.056168 # Seafloor depth:-117.056168 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 112.696672 meters looking forward 0.000000 meters along route # Maximum depth: 112.696672 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.696672 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834580; longitude = -121.958827; captureRadius = 10; duration = 51; initialDepth = 69.512010; finalDepth = 72.696672; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.696672 # Seafloor depth:-112.696672 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 109.512010 meters looking forward 0.000000 meters along route # Maximum depth: 109.512010 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.512010 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834373; longitude = -121.958328; captureRadius = 10; duration = 51; initialDepth = 64.366033; finalDepth = 69.512010; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.51201 # Seafloor depth:-109.512010 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 104.366033 meters looking forward 0.000000 meters along route # Maximum depth: 104.366033 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.366033 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834164; longitude = -121.957823; captureRadius = 10; duration = 51; initialDepth = 59.337674; finalDepth = 64.366033; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.366033 # Seafloor depth:-104.366033 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 5 # Segment length 51.801962 meters # Minimum depth: 99.337674 meters looking forward 0.000000 meters along route # Maximum depth: 99.337674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.337674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833949; longitude = -121.957304; captureRadius = 10; duration = 51; initialDepth = 57.321447; finalDepth = 59.337674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.337674 # Seafloor depth:-99.337674 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 4 # Segment length 51.801962 meters # Minimum depth: 97.321447 meters looking forward 0.000000 meters along route # Maximum depth: 97.321447 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.321447 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833739; longitude = -121.956796; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 57.346109; finalDepth = 57.321447; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.321447 # Seafloor depth:-97.321447 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 97.346109 meters looking forward 0.000000 meters along route # Maximum depth: 97.346109 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.346109 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.833899; longitude = -121.956702; captureRadius = 10; duration = 51; initialDepth = 57.161791; finalDepth = 57.346109; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.346109 # Seafloor depth:-97.346109 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 97.161791 meters looking forward 0.000000 meters along route # Maximum depth: 97.161791 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.161791 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834310; longitude = -121.956462; captureRadius = 10; duration = 51; initialDepth = 55.802629; finalDepth = 57.161791; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.161791 # Seafloor depth:-97.161791 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 95.802629 meters looking forward 0.000000 meters along route # Maximum depth: 95.802629 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.802629 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.834762; longitude = -121.956198; captureRadius = 10; duration = 51; initialDepth = 55.971197; finalDepth = 55.802629; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.802629 # Seafloor depth:-95.802629 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 95.971197 meters looking forward 0.000000 meters along route # Maximum depth: 95.971197 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.971197 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835211; longitude = -121.955935; captureRadius = 10; duration = 51; initialDepth = 55.056891; finalDepth = 55.971197; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.971197 # Seafloor depth:-95.971197 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 95.056891 meters looking forward 0.000000 meters along route # Maximum depth: 95.056891 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.056891 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.835624; longitude = -121.955693; captureRadius = 10; duration = 51; initialDepth = 54.262959; finalDepth = 55.056891; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.056891 # Seafloor depth:-95.056891 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 94.262959 meters looking forward 0.000000 meters along route # Maximum depth: 94.262959 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.262959 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836067; longitude = -121.955435; captureRadius = 10; duration = 51; initialDepth = 54.168076; finalDepth = 54.262959; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.262959 # Seafloor depth:-94.262959 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 94.168076 meters looking forward 0.000000 meters along route # Maximum depth: 94.168076 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.168076 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836487; longitude = -121.955189; captureRadius = 10; duration = 51; initialDepth = 53.896045; finalDepth = 54.168076; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.168076 # Seafloor depth:-94.168076 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 93.896045 meters looking forward 0.000000 meters along route # Maximum depth: 93.896045 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.896045 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.836923; longitude = -121.954934; captureRadius = 10; duration = 51; initialDepth = 53.744068; finalDepth = 53.896045; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.896045 # Seafloor depth:-93.896045 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 93.744068 meters looking forward 0.000000 meters along route # Maximum depth: 93.744068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.744068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837349; longitude = -121.954685; captureRadius = 10; duration = 51; initialDepth = 53.306737; finalDepth = 53.744068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.744068 # Seafloor depth:-93.744068 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 93.306737 meters looking forward 0.000000 meters along route # Maximum depth: 93.306737 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.306737 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.837779; longitude = -121.954433; captureRadius = 10; duration = 51; initialDepth = 53.307586; finalDepth = 53.306737; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.306737 # Seafloor depth:-93.306737 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 93.307586 meters looking forward 0.000000 meters along route # Maximum depth: 93.307586 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.307586 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838212; longitude = -121.954180; captureRadius = 10; duration = 51; initialDepth = 52.845329; finalDepth = 53.307586; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.307586 # Seafloor depth:-93.307586 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 92.845329 meters looking forward 0.000000 meters along route # Maximum depth: 92.845329 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.845329 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.838636; longitude = -121.953932; captureRadius = 10; duration = 51; initialDepth = 52.093064; finalDepth = 52.845329; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.845329 # Seafloor depth:-92.845329 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 4 # Segment length 51.801962 meters # Minimum depth: 92.093064 meters looking forward 0.000000 meters along route # Maximum depth: 92.093064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.093064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839086; longitude = -121.953669; captureRadius = 10; duration = 51; initialDepth = 51.714312; finalDepth = 52.093064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.093064 # Seafloor depth:-92.093064 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 3 # Segment length 51.801962 meters # Minimum depth: 91.714312 meters looking forward 0.000000 meters along route # Maximum depth: 91.714312 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 51.714312 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839522; longitude = -121.953414; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 52.511388; finalDepth = 51.714312; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:51.714312 # Seafloor depth:-91.714312 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 92.511388 meters looking forward 0.000000 meters along route # Maximum depth: 92.511388 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 52.511388 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839584; longitude = -121.953564; captureRadius = 10; duration = 51; initialDepth = 53.834641; finalDepth = 52.511388; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:52.511388 # Seafloor depth:-92.511388 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 93.834641 meters looking forward 0.000000 meters along route # Maximum depth: 93.834641 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 53.834641 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.839795; longitude = -121.954068; captureRadius = 10; duration = 51; initialDepth = 54.239094; finalDepth = 53.834641; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:53.834641 # Seafloor depth:-93.834641 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 94.239094 meters looking forward 0.000000 meters along route # Maximum depth: 94.239094 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.239094 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840005; longitude = -121.954573; captureRadius = 10; duration = 51; initialDepth = 55.865563; finalDepth = 54.239094; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.239094 # Seafloor depth:-94.239094 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 95.865563 meters looking forward 0.000000 meters along route # Maximum depth: 95.865563 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.865563 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840216; longitude = -121.955077; captureRadius = 10; duration = 51; initialDepth = 57.681880; finalDepth = 55.865563; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.865563 # Seafloor depth:-95.865563 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 97.681880 meters looking forward 0.000000 meters along route # Maximum depth: 97.681880 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.681880 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840426; longitude = -121.955581; captureRadius = 10; duration = 51; initialDepth = 60.112894; finalDepth = 57.681880; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.68188 # Seafloor depth:-97.681880 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 100.112894 meters looking forward 0.000000 meters along route # Maximum depth: 100.112894 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.112894 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840636; longitude = -121.956086; captureRadius = 10; duration = 51; initialDepth = 61.144974; finalDepth = 60.112894; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.112894 # Seafloor depth:-100.112894 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 101.144974 meters looking forward 0.000000 meters along route # Maximum depth: 101.144974 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.144974 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.840847; longitude = -121.956590; captureRadius = 10; duration = 51; initialDepth = 63.780080; finalDepth = 61.144974; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.144974 # Seafloor depth:-101.144974 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 103.780080 meters looking forward 0.000000 meters along route # Maximum depth: 103.780080 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 63.780080 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841057; longitude = -121.957095; captureRadius = 10; duration = 51; initialDepth = 67.833363; finalDepth = 63.780080; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:63.78008 # Seafloor depth:-103.780080 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 107.833363 meters looking forward 0.000000 meters along route # Maximum depth: 107.833363 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 67.833363 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841268; longitude = -121.957599; captureRadius = 10; duration = 51; initialDepth = 75.140440; finalDepth = 67.833363; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:67.833363 # Seafloor depth:-107.833363 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 115.140440 meters looking forward 0.000000 meters along route # Maximum depth: 115.140440 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 75.140440 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841478; longitude = -121.958103; captureRadius = 10; duration = 51; initialDepth = 90.240082; finalDepth = 75.140440; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:75.14044 # Seafloor depth:-115.140440 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 130.240082 meters looking forward 0.000000 meters along route # Maximum depth: 130.240082 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 90.240082 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841689; longitude = -121.958608; captureRadius = 10; duration = 51; initialDepth = 102.770786; finalDepth = 90.240082; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:90.240082 # Seafloor depth:-130.240082 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 142.770786 meters looking forward 0.000000 meters along route # Maximum depth: 142.770786 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.770786 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.841899; longitude = -121.959112; captureRadius = 10; duration = 51; initialDepth = 112.009914; finalDepth = 102.770786; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:102.770786 # Seafloor depth:-142.770786 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 152.009914 meters looking forward 0.000000 meters along route # Maximum depth: 152.009914 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 112.009914 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842109; longitude = -121.959617; captureRadius = 10; duration = 51; initialDepth = 119.311547; finalDepth = 112.009914; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:112.009914 # Seafloor depth:-152.009914 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 159.311547 meters looking forward 0.000000 meters along route # Maximum depth: 159.311547 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 119.311547 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842320; longitude = -121.960121; captureRadius = 10; duration = 51; initialDepth = 125.426025; finalDepth = 119.311547; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:119.311547 # Seafloor depth:-159.311547 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 165.426025 meters looking forward 0.000000 meters along route # Maximum depth: 165.426025 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 125.426025 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842530; longitude = -121.960625; captureRadius = 10; duration = 51; initialDepth = 136.810955; finalDepth = 125.426025; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:125.426025 # Seafloor depth:-165.426025 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 176.810955 meters looking forward 0.000000 meters along route # Maximum depth: 176.810955 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 136.810955 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842741; longitude = -121.961130; captureRadius = 10; duration = 51; initialDepth = 151.728174; finalDepth = 136.810955; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:136.810955 # Seafloor depth:-176.810955 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 191.728174 meters looking forward 0.000000 meters along route # Maximum depth: 191.728174 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 151.728174 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.842951; longitude = -121.961634; captureRadius = 10; duration = 51; initialDepth = 166.930143; finalDepth = 151.728174; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:151.728174 # Seafloor depth:-191.728174 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 211.138744 meters looking forward 0.000000 meters along route # Maximum depth: 211.138744 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 166.930143 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843161; longitude = -121.962139; captureRadius = 10; duration = 51; initialDepth = 182.132078; finalDepth = 166.930143; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 44.2086009999999 # Actual altitude: 50 # Commanded vehicle depth:166.930143 # Seafloor depth:-211.138744 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 236.298051 meters looking forward 0.000000 meters along route # Maximum depth: 236.298051 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 182.132078 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843372; longitude = -121.962643; captureRadius = 10; duration = 51; initialDepth = 197.333978; finalDepth = 182.132078; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1659734999999 # Actual altitude: 54.1659734999999 # Commanded vehicle depth:182.1320775 # Seafloor depth:-236.298051 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 245.714233 meters looking forward 0.000000 meters along route # Maximum depth: 245.714233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 197.333978 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843582; longitude = -121.963147; captureRadius = 10; duration = 51; initialDepth = 212.535844; finalDepth = 197.333978; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 54.1659734999999 # Actual altitude: 54.1659734999999 # Commanded vehicle depth:197.3339778 # Seafloor depth:-245.714233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 216.66; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 21.67; MB_Bottom_Detect_Filter_Max_Range = 216.66; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 162.50; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 254.779151 meters looking forward 0.000000 meters along route # Maximum depth: 254.779151 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 212.535844 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.843793; longitude = -121.963652; captureRadius = 10; duration = 51; initialDepth = 221.566123; finalDepth = 212.535844; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 48.3802552 # Actual altitude: 50 # Commanded vehicle depth:212.5358439 # Seafloor depth:-254.779151 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 261.566123 meters looking forward 0.000000 meters along route # Maximum depth: 261.566123 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 221.566123 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844003; longitude = -121.964156; captureRadius = 10; duration = 51; initialDepth = 217.807344; finalDepth = 221.566123; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 42.2433071 # Actual altitude: 50 # Commanded vehicle depth:221.566123 # Seafloor depth:-261.566123 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 257.807344 meters looking forward 0.000000 meters along route # Maximum depth: 257.807344 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 217.807344 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844213; longitude = -121.964661; captureRadius = 10; duration = 51; initialDepth = 211.811954; finalDepth = 217.807344; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:217.807344 # Seafloor depth:-257.807344 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 251.811954 meters looking forward 0.000000 meters along route # Maximum depth: 251.811954 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 211.811954 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844424; longitude = -121.965165; captureRadius = 10; duration = 51; initialDepth = 202.455389; finalDepth = 211.811954; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:211.811954 # Seafloor depth:-251.811954 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 242.455389 meters looking forward 0.000000 meters along route # Maximum depth: 242.455389 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 202.455389 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844634; longitude = -121.965669; captureRadius = 10; duration = 51; initialDepth = 191.843573; finalDepth = 202.455389; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:202.455389 # Seafloor depth:-242.455389 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 231.843573 meters looking forward 0.000000 meters along route # Maximum depth: 231.843573 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 191.843573 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.844845; longitude = -121.966174; captureRadius = 10; duration = 51; initialDepth = 187.089540; finalDepth = 191.843573; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:191.843573 # Seafloor depth:-231.843573 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 227.089540 meters looking forward 0.000000 meters along route # Maximum depth: 227.089540 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 187.089540 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845055; longitude = -121.966678; captureRadius = 10; duration = 51; initialDepth = 181.747349; finalDepth = 187.089540; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:187.08954 # Seafloor depth:-227.089540 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 221.747349 meters looking forward 0.000000 meters along route # Maximum depth: 221.747349 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 181.747349 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845265; longitude = -121.967183; captureRadius = 10; duration = 51; initialDepth = 159.271701; finalDepth = 181.747349; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:181.747349 # Seafloor depth:-221.747349 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 199.271701 meters looking forward 0.000000 meters along route # Maximum depth: 199.271701 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 159.271701 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845476; longitude = -121.967687; captureRadius = 10; duration = 51; initialDepth = 127.499372; finalDepth = 159.271701; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:159.271701 # Seafloor depth:-199.271701 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 167.499372 meters looking forward 0.000000 meters along route # Maximum depth: 167.499372 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 127.499372 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845686; longitude = -121.968191; captureRadius = 10; duration = 51; initialDepth = 109.828993; finalDepth = 127.499372; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:127.499372 # Seafloor depth:-167.499372 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 149.828993 meters looking forward 0.000000 meters along route # Maximum depth: 149.828993 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 109.828993 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.845897; longitude = -121.968696; captureRadius = 10; duration = 51; initialDepth = 99.945233; finalDepth = 109.828993; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:109.828993 # Seafloor depth:-149.828993 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 139.945233 meters looking forward 0.000000 meters along route # Maximum depth: 139.945233 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 99.945233 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846107; longitude = -121.969200; captureRadius = 10; duration = 51; initialDepth = 82.614059; finalDepth = 99.945233; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:99.945233 # Seafloor depth:-139.945233 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 122.614059 meters looking forward 0.000000 meters along route # Maximum depth: 122.614059 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 82.614059 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846317; longitude = -121.969705; captureRadius = 10; duration = 51; initialDepth = 72.548520; finalDepth = 82.614059; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:82.614059 # Seafloor depth:-122.614059 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 112.548520 meters looking forward 0.000000 meters along route # Maximum depth: 112.548520 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 72.548520 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846528; longitude = -121.970209; captureRadius = 10; duration = 51; initialDepth = 69.592920; finalDepth = 72.548520; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:72.54852 # Seafloor depth:-112.548520 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 109.592920 meters looking forward 0.000000 meters along route # Maximum depth: 109.592920 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 69.592920 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846738; longitude = -121.970713; captureRadius = 10; duration = 51; initialDepth = 66.938504; finalDepth = 69.592920; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:69.59292 # Seafloor depth:-109.592920 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 106.938504 meters looking forward 0.000000 meters along route # Maximum depth: 106.938504 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.938504 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846949; longitude = -121.971218; captureRadius = 10; duration = 51; initialDepth = 65.566270; finalDepth = 66.938504; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.938504 # Seafloor depth:-106.938504 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 105.566270 meters looking forward 0.000000 meters along route # Maximum depth: 105.566270 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 65.566270 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847159; longitude = -121.971722; captureRadius = 10; duration = 51; initialDepth = 64.745463; finalDepth = 65.566270; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:65.56627 # Seafloor depth:-105.566270 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 104.745463 meters looking forward 0.000000 meters along route # Maximum depth: 104.745463 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.745463 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847370; longitude = -121.972227; captureRadius = 10; duration = 51; initialDepth = 62.221952; finalDepth = 64.745463; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.745463 # Seafloor depth:-104.745463 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 102.221952 meters looking forward 0.000000 meters along route # Maximum depth: 102.221952 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 62.221952 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847580; longitude = -121.972731; captureRadius = 10; duration = 51; initialDepth = 61.208204; finalDepth = 62.221952; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:62.221952 # Seafloor depth:-102.221952 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 101.208204 meters looking forward 0.000000 meters along route # Maximum depth: 101.208204 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.208204 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847790; longitude = -121.973235; captureRadius = 10; duration = 51; initialDepth = 59.914794; finalDepth = 61.208204; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.208204 # Seafloor depth:-101.208204 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 3 # Segment length 51.801962 meters # Minimum depth: 99.914794 meters looking forward 0.000000 meters along route # Maximum depth: 99.914794 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.914794 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848008; longitude = -121.973758; captureRadius = 10; duration = 51; initialDepth = 57.788834; finalDepth = 59.914794; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.914794 # Seafloor depth:-99.914794 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 2 # Segment length 51.801962 meters # Minimum depth: 97.788834 meters looking forward 0.000000 meters along route # Maximum depth: 97.788834 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.788834 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848219; longitude = -121.974263; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 58.101558; finalDepth = 57.788834; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.788834 # Seafloor depth:-97.788834 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 98.101558 meters looking forward 0.000000 meters along route # Maximum depth: 98.101558 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.101558 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848279; longitude = -121.974226; captureRadius = 10; duration = 51; initialDepth = 57.699669; finalDepth = 58.101558; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.101558 # Seafloor depth:-98.101558 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 97.699669 meters looking forward 0.000000 meters along route # Maximum depth: 97.699669 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.699669 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848684; longitude = -121.973976; captureRadius = 10; duration = 51; initialDepth = 57.495455; finalDepth = 57.699669; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.699669 # Seafloor depth:-97.699669 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 97.495455 meters looking forward 0.000000 meters along route # Maximum depth: 97.495455 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.495455 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849090; longitude = -121.973726; captureRadius = 10; duration = 51; initialDepth = 56.779877; finalDepth = 57.495455; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.495455 # Seafloor depth:-97.495455 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 96.779877 meters looking forward 0.000000 meters along route # Maximum depth: 96.779877 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.779877 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849495; longitude = -121.973476; captureRadius = 10; duration = 51; initialDepth = 55.572661; finalDepth = 56.779877; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.779877 # Seafloor depth:-96.779877 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 95.572661 meters looking forward 0.000000 meters along route # Maximum depth: 95.572661 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.572661 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849901; longitude = -121.973226; captureRadius = 10; duration = 51; initialDepth = 54.911947; finalDepth = 55.572661; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.572661 # Seafloor depth:-95.572661 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 94.911947 meters looking forward 0.000000 meters along route # Maximum depth: 94.911947 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.911947 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850307; longitude = -121.972976; captureRadius = 10; duration = 51; initialDepth = 54.419357; finalDepth = 54.911947; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.911947 # Seafloor depth:-94.911947 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 94.419357 meters looking forward 0.000000 meters along route # Maximum depth: 94.419357 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 54.419357 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850712; longitude = -121.972726; captureRadius = 10; duration = 51; initialDepth = 55.730674; finalDepth = 54.419357; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:54.419357 # Seafloor depth:-94.419357 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 95.730674 meters looking forward 0.000000 meters along route # Maximum depth: 95.730674 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 55.730674 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851118; longitude = -121.972476; captureRadius = 10; duration = 51; initialDepth = 56.706845; finalDepth = 55.730674; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:55.730674 # Seafloor depth:-95.730674 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 96.706845 meters looking forward 0.000000 meters along route # Maximum depth: 96.706845 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 56.706845 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851523; longitude = -121.972226; captureRadius = 10; duration = 51; initialDepth = 57.540590; finalDepth = 56.706845; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:56.706845 # Seafloor depth:-96.706845 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 97.540590 meters looking forward 0.000000 meters along route # Maximum depth: 97.540590 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 57.540590 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851929; longitude = -121.971976; captureRadius = 10; duration = 51; initialDepth = 58.087743; finalDepth = 57.540590; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:57.54059 # Seafloor depth:-97.540590 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 98.087743 meters looking forward 0.000000 meters along route # Maximum depth: 98.087743 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.087743 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852334; longitude = -121.971726; captureRadius = 10; duration = 51; initialDepth = 58.703913; finalDepth = 58.087743; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.087743 # Seafloor depth:-98.087743 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 98.703913 meters looking forward 0.000000 meters along route # Maximum depth: 98.703913 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.703913 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852740; longitude = -121.971475; captureRadius = 10; duration = 51; initialDepth = 58.721553; finalDepth = 58.703913; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.703913 # Seafloor depth:-98.703913 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 98.721553 meters looking forward 0.000000 meters along route # Maximum depth: 98.721553 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 58.721553 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853145; longitude = -121.971225; captureRadius = 10; duration = 51; initialDepth = 59.073868; finalDepth = 58.721553; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:58.721553 # Seafloor depth:-98.721553 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 99.073868 meters looking forward 0.000000 meters along route # Maximum depth: 99.073868 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 59.073868 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853551; longitude = -121.970975; captureRadius = 10; duration = 51; initialDepth = 60.218494; finalDepth = 59.073868; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:59.073868 # Seafloor depth:-99.073868 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 100.218494 meters looking forward 0.000000 meters along route # Maximum depth: 100.218494 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.218494 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853957; longitude = -121.970725; captureRadius = 10; duration = 51; initialDepth = 61.259556; finalDepth = 60.218494; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.218494 # Seafloor depth:-100.218494 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 101.259556 meters looking forward 0.000000 meters along route # Maximum depth: 101.259556 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.259556 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854362; longitude = -121.970475; captureRadius = 10; duration = 51; initialDepth = 61.343567; finalDepth = 61.259556; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.259556 # Seafloor depth:-101.259556 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 2 # Segment length 51.801962 meters # Minimum depth: 101.343567 meters looking forward 0.000000 meters along route # Maximum depth: 101.343567 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.343567 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854768; longitude = -121.970225; captureRadius = 10; duration = 51; initialDepth = 60.914064; finalDepth = 61.343567; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.343567 # Seafloor depth:-101.343567 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior to get to end of line 1 # Segment length 51.801962 meters # Minimum depth: 100.914064 meters looking forward 0.000000 meters along route # Maximum depth: 100.914064 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 60.914064 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855188; longitude = -121.969966; captureRadius = 10; duration = 51; # abortOnTimeout = True; initialDepth = 61.309085; finalDepth = 60.914064; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:60.914064 # Seafloor depth:-100.914064 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 101.309085 meters looking forward 0.000000 meters along route # Maximum depth: 101.309085 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 61.309085 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.855173; longitude = -121.969929; captureRadius = 10; duration = 51; initialDepth = 64.490924; finalDepth = 61.309085; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:61.309085 # Seafloor depth:-101.309085 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 104.490924 meters looking forward 0.000000 meters along route # Maximum depth: 104.490924 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 64.490924 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854968; longitude = -121.969424; captureRadius = 10; duration = 51; initialDepth = 71.950847; finalDepth = 64.490924; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:64.490924 # Seafloor depth:-104.490924 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 111.950847 meters looking forward 0.000000 meters along route # Maximum depth: 111.950847 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 71.950847 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854764; longitude = -121.968920; captureRadius = 10; duration = 51; initialDepth = 79.135350; finalDepth = 71.950847; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:71.950847 # Seafloor depth:-111.950847 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 119.135350 meters looking forward 0.000000 meters along route # Maximum depth: 119.135350 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 79.135350 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854560; longitude = -121.968416; captureRadius = 10; duration = 51; initialDepth = 89.366253; finalDepth = 79.135350; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:79.13535 # Seafloor depth:-119.135350 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 129.366253 meters looking forward 0.000000 meters along route # Maximum depth: 129.366253 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 89.366253 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854355; longitude = -121.967911; captureRadius = 10; duration = 51; initialDepth = 100.225846; finalDepth = 89.366253; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:89.366253 # Seafloor depth:-129.366253 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 140.225846 meters looking forward 0.000000 meters along route # Maximum depth: 140.225846 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.225846 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.854151; longitude = -121.967407; captureRadius = 10; duration = 51; initialDepth = 106.806925; finalDepth = 100.225846; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.225846 # Seafloor depth:-140.225846 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 146.806925 meters looking forward 0.000000 meters along route # Maximum depth: 146.806925 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 106.806925 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853946; longitude = -121.966902; captureRadius = 10; duration = 51; initialDepth = 111.762738; finalDepth = 106.806925; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:106.806925 # Seafloor depth:-146.806925 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 151.762738 meters looking forward 0.000000 meters along route # Maximum depth: 151.762738 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 111.762738 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853742; longitude = -121.966398; captureRadius = 10; duration = 51; initialDepth = 117.787375; finalDepth = 111.762738; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:111.762738 # Seafloor depth:-151.762738 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 157.787375 meters looking forward 0.000000 meters along route # Maximum depth: 157.787375 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 117.787375 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853537; longitude = -121.965894; captureRadius = 10; duration = 51; initialDepth = 123.971682; finalDepth = 117.787375; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:117.787375 # Seafloor depth:-157.787375 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 163.971682 meters looking forward 0.000000 meters along route # Maximum depth: 163.971682 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 123.971682 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853333; longitude = -121.965389; captureRadius = 10; duration = 51; initialDepth = 132.206206; finalDepth = 123.971682; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:123.971682 # Seafloor depth:-163.971682 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 172.206206 meters looking forward 0.000000 meters along route # Maximum depth: 172.206206 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 132.206206 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.853128; longitude = -121.964885; captureRadius = 10; duration = 51; initialDepth = 139.396427; finalDepth = 132.206206; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:132.206206 # Seafloor depth:-172.206206 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 179.396427 meters looking forward 0.000000 meters along route # Maximum depth: 179.396427 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 139.396427 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852924; longitude = -121.964380; captureRadius = 10; duration = 51; initialDepth = 147.469723; finalDepth = 139.396427; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:139.396427 # Seafloor depth:-179.396427 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 187.469723 meters looking forward 0.000000 meters along route # Maximum depth: 187.469723 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 147.469723 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852719; longitude = -121.963876; captureRadius = 10; duration = 51; initialDepth = 154.875142; finalDepth = 147.469723; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:147.469723 # Seafloor depth:-187.469723 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 194.875142 meters looking forward 0.000000 meters along route # Maximum depth: 194.875142 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 154.875142 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852515; longitude = -121.963371; captureRadius = 10; duration = 51; initialDepth = 163.265710; finalDepth = 154.875142; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:154.875142 # Seafloor depth:-194.875142 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 203.265710 meters looking forward 0.000000 meters along route # Maximum depth: 203.265710 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 163.265710 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852310; longitude = -121.962867; captureRadius = 10; duration = 51; initialDepth = 175.059546; finalDepth = 163.265710; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:163.26571 # Seafloor depth:-203.265710 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 215.059546 meters looking forward 0.000000 meters along route # Maximum depth: 215.059546 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 175.059546 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.852106; longitude = -121.962363; captureRadius = 10; duration = 51; initialDepth = 176.500393; finalDepth = 175.059546; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:175.059546 # Seafloor depth:-215.059546 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 216.500393 meters looking forward 0.000000 meters along route # Maximum depth: 216.500393 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 176.500393 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851902; longitude = -121.961858; captureRadius = 10; duration = 51; initialDepth = 170.730542; finalDepth = 176.500393; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:176.500393 # Seafloor depth:-216.500393 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 210.730542 meters looking forward 0.000000 meters along route # Maximum depth: 210.730542 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 170.730542 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851697; longitude = -121.961354; captureRadius = 10; duration = 51; initialDepth = 161.369704; finalDepth = 170.730542; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:170.730542 # Seafloor depth:-210.730542 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 201.369704 meters looking forward 0.000000 meters along route # Maximum depth: 201.369704 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 161.369704 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851493; longitude = -121.960850; captureRadius = 10; duration = 51; initialDepth = 157.632751; finalDepth = 161.369704; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:161.369704 # Seafloor depth:-201.369704 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 197.632751 meters looking forward 0.000000 meters along route # Maximum depth: 197.632751 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 157.632751 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851288; longitude = -121.960345; captureRadius = 10; duration = 51; initialDepth = 155.508837; finalDepth = 157.632751; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:157.632751 # Seafloor depth:-197.632751 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 195.508837 meters looking forward 0.000000 meters along route # Maximum depth: 195.508837 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 155.508837 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.851084; longitude = -121.959841; captureRadius = 10; duration = 51; initialDepth = 149.239145; finalDepth = 155.508837; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:155.508837 # Seafloor depth:-195.508837 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 189.239145 meters looking forward 0.000000 meters along route # Maximum depth: 189.239145 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 149.239145 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850879; longitude = -121.959336; captureRadius = 10; duration = 51; initialDepth = 140.305809; finalDepth = 149.239145; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:149.239145 # Seafloor depth:-189.239145 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 180.305809 meters looking forward 0.000000 meters along route # Maximum depth: 180.305809 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 140.305809 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850675; longitude = -121.958832; captureRadius = 10; duration = 51; initialDepth = 137.149488; finalDepth = 140.305809; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:140.305809 # Seafloor depth:-180.305809 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 177.149488 meters looking forward 0.000000 meters along route # Maximum depth: 177.149488 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.149488 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850470; longitude = -121.958328; captureRadius = 10; duration = 51; initialDepth = 137.661384; finalDepth = 137.149488; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:137.149488 # Seafloor depth:-177.149488 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 177.661384 meters looking forward 0.000000 meters along route # Maximum depth: 177.661384 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 137.661384 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850266; longitude = -121.957823; captureRadius = 10; duration = 51; initialDepth = 135.104621; finalDepth = 137.661384; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:137.661384 # Seafloor depth:-177.661384 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 175.104621 meters looking forward 0.000000 meters along route # Maximum depth: 175.104621 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 135.104621 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.850061; longitude = -121.957319; captureRadius = 10; duration = 51; initialDepth = 129.735188; finalDepth = 135.104621; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:135.104621 # Seafloor depth:-175.104621 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 169.735188 meters looking forward 0.000000 meters along route # Maximum depth: 169.735188 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 129.735188 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849856; longitude = -121.956812; captureRadius = 10; duration = 51; initialDepth = 122.879269; finalDepth = 129.735188; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:129.735188 # Seafloor depth:-169.735188 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 162.879269 meters looking forward 0.000000 meters along route # Maximum depth: 162.879269 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 122.879269 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849653; longitude = -121.956310; captureRadius = 10; duration = 51; initialDepth = 118.331999; finalDepth = 122.879269; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:122.879269 # Seafloor depth:-162.879269 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 158.331999 meters looking forward 0.000000 meters along route # Maximum depth: 158.331999 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 118.331999 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849448; longitude = -121.955806; captureRadius = 10; duration = 51; initialDepth = 114.426252; finalDepth = 118.331999; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:118.331999 # Seafloor depth:-158.331999 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 154.426252 meters looking forward 0.000000 meters along route # Maximum depth: 154.426252 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 114.426252 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849244; longitude = -121.955301; captureRadius = 10; duration = 51; initialDepth = 110.415108; finalDepth = 114.426252; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:114.426252 # Seafloor depth:-154.426252 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 150.415108 meters looking forward 0.000000 meters along route # Maximum depth: 150.415108 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 110.415108 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.849039; longitude = -121.954797; captureRadius = 10; duration = 51; initialDepth = 107.170951; finalDepth = 110.415108; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:110.415108 # Seafloor depth:-150.415108 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 147.170951 meters looking forward 0.000000 meters along route # Maximum depth: 147.170951 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 107.170951 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848835; longitude = -121.954292; captureRadius = 10; duration = 51; initialDepth = 102.534412; finalDepth = 107.170951; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:107.170951 # Seafloor depth:-147.170951 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 142.534412 meters looking forward 0.000000 meters along route # Maximum depth: 142.534412 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 102.534412 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848630; longitude = -121.953788; captureRadius = 10; duration = 51; initialDepth = 100.077638; finalDepth = 102.534412; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:102.534412 # Seafloor depth:-142.534412 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 140.077638 meters looking forward 0.000000 meters along route # Maximum depth: 140.077638 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 100.077638 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848426; longitude = -121.953283; captureRadius = 10; duration = 51; initialDepth = 93.280639; finalDepth = 100.077638; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:100.077638 # Seafloor depth:-140.077638 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 133.280639 meters looking forward 0.000000 meters along route # Maximum depth: 133.280639 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 93.280639 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848221; longitude = -121.952779; captureRadius = 10; duration = 51; initialDepth = 66.035376; finalDepth = 93.280639; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:93.280639 # Seafloor depth:-133.280639 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 106.035376 meters looking forward 0.000000 meters along route # Maximum depth: 106.035376 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 66.035376 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.848017; longitude = -121.952275; captureRadius = 10; duration = 51; initialDepth = 46.673245; finalDepth = 66.035376; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:66.035376 # Seafloor depth:-106.035376 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 86.673245 meters looking forward 0.000000 meters along route # Maximum depth: 86.673245 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.673245 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847812; longitude = -121.951770; captureRadius = 10; duration = 51; initialDepth = 46.011491; finalDepth = 46.673245; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.673245 # Seafloor depth:-86.673245 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 86.011491 meters looking forward 0.000000 meters along route # Maximum depth: 86.011491 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 46.011491 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847608; longitude = -121.951266; captureRadius = 10; duration = 51; initialDepth = 45.654106; finalDepth = 46.011491; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:46.011491 # Seafloor depth:-86.011491 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 85.654106 meters looking forward 0.000000 meters along route # Maximum depth: 85.654106 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.654106 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847403; longitude = -121.950761; captureRadius = 10; duration = 51; initialDepth = 45.195328; finalDepth = 45.654106; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:45.654106 # Seafloor depth:-85.654106 # behavior reson { duration = 6; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # # # Waypoint_depth behavior during line 1 # Segment length 51.801962 meters # Minimum depth: 85.195328 meters looking forward 0.000000 meters along route # Maximum depth: 85.195328 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 45.195328 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.847197; longitude = -121.950253; captureRadius = 10; duration = 51; initialDepth = 44.872068; finalDepth = 45.195328; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Reset sonar parameters # Commanded altitude: 40 # Actual altitude: 50 # Commanded vehicle depth:45.195328 # Seafloor depth:-85.195328 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Duration = 450.000; LoSS_Range = 337.50; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; } # ####################################################### # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # ####################################################### # Turn Mapping sonars on and start logging. # behavior reson { duration = 6; Log_Mode = 1; } # Set sonar parameters # Commanded altitude: 40 # Sonar parameter altitude: 50 # Commanded vehicle depth:44.872068 # Seafloor depth:-84.872068 # behavior reson { duration = 6; SBP_Mode = 1; SBP_Power = 100.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 1; LoSS_Power = 100.0; LoSS_Range = 337.50; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 337.5; MB_Power = 220; MB_Range = 200.00; MB_Rate = 2; MB_Gain = 80; MB_Sound_Velocity = 0.0; MB_Pulse_Width = 0.000030; MB_Bottom_Detect_Filter_Min_Range = 20.00; MB_Bottom_Detect_Filter_Max_Range = 200.00; MB_Bottom_Detect_Filter_Min_Depth = 0.00; MB_Bottom_Detect_Filter_Max_Depth = 150.00; MB_Bottom_Detect_Range_Mode = 1; MB_Bottom_Detect_Depth_Mode = 1; 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 51.801962 meters # Minimum depth: 84.872068 meters looking forward 0.000000 meters along route # Maximum depth: 84.872068 meters looking forward 0.000000 meters along route # Maximum vehicle depth: 559.956511 meters # Desired vehicle altitude: 40.000000 meters # Minimum vehicle altitude: 50.000000 meters # Behavior depth of 44.872068 meters set by local depth and desired altitude behavior waypoint_depth { latitude = 36.846987; longitude = -121.949734; captureRadius = 10; duration = 600; initialDepth = 44.872068; finalDepth = 44.872068; maxCrossTrackError = 30; speed = 1.500000; } ####################################################### # Acoustic update - sent status ping after end of line # behavior acousticUpdate { duration = 2; dummy = 1; } # ####################################################### ####################################################### # # # Acoustic update - sent status ping before start of line # behavior acousticUpdate { duration = 2; dummy = 1; } # # Descend behavior behavior descend { horizontalMode = heading; horizontal = 296.141769; pitch = -30.000000; speed = 1.500000; maxDepth = 3.000000; minAltitude = 50.000000; duration = 300; } # # setpoint on surface to gather momentum behavior setpoint { duration = 30; heading = 296.141769; speed = 1.500000; verticalMode = pitch; pitch = 0; } # # acquire gps fix behavior getgps { duration = 600; minHits = 10; abortOnTimeout = True; } ####################################################### # Set sonar parameters, turn pinging on, power zero and logging off # behavior reson { duration = 6; MB_Mode = 1; Log_Mode = 0; SBP_Mode = 0; SBP_Power = 0.0; SBP_Gain = 128.0; SBP_Duration = 450.000; LoSS_Mode = 0; LoSS_Power = 0.0; LoSS_Range = 200.00; HiSS_Mode = 0; HiSS_Power = 0.0; HiSS_Range = 200; MB_Power = 0; MB_Range = 160.00; MB_Rate = 2; MB_Gain = 80; 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; } # ####################################################### #######################################################